Chocolate Caramel Pretzel Ice Cream (no churn)

"No special equipment is necessary to make this no churn, ultra-creamy, chocolate pretzel ice cream. You're going to love every bite of this summer classic...."

INGREDIENTS
1 cup whole milk
1-1/4 cup granulated sugar
3 tbsps Dutch-process cocoa powder
2 cups heavy whipping cream
2 cups salted pretzels, coarsely chopped, divided
1/2 cup caramel dessert topping (room temperature), divided
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