Whisk together the condensed milk, chocolate syrup, and almond milk in a large bowl; set aside
In a medium bowl, beat whipping cream with an electric mixer until stiff peaks form, about 2-3 minutes.
With a rubber spatula, gently fold the whipped cream into the condensed milk mixture until combined.
Then gently fold in the marshmallows and chopped almonds.
Transfer to a (chilled) 4 1/2 x 8 1/2-inch loaf pan. (Mixture will be loose.) Cover tightly with lid or plastic wrap and freeze until firm, about 6 hours.
Let ice cream stand at room temperature for 5-10 minutes before serving.
Notes
Freeze it faster. A metal container will freeze the ice cream faster and better than a glass container.It melts quickly. No churn ice cream melts a little quicker than typical custard based ice creams.Avoid low fat ingredients and sugar substitutes. Lower fat or lower sugar alternatives won't deliver proper results, so don't try to substitute.Mix-ins should be chopped finely. Chop up your mix-ins finely before adding them.Storage. This ice cream can remain frozen for up to 2 weeks. Keep the container tightly sealed to avoid freezer burn.