In a mixing bowl, combine coconut milk, maple syrup, cocoa powder, vanilla extract, and salt.
Whisk the mixture until smooth and well combined.
Pour the mixture into an ice cream maker and churn according to the manufacturer's instructions.
If you don't have an ice cream maker, pour the mixture into a container and freeze for 1 hour.
Stir the mixture well to break up ice crystals, then return to the freezer. Repeat this every hour for about 4 hours until fully frozen.
Serve chilled in bowls or cones.