Whip the cream with the cocoa powder and vanilla until stiff peaks form, but take care not to overmix. Fold through the condensed milk.
Spoon the mixture into ice cream moulds, add in the popsicle sticks and freeze the ice creams for at least 8 hours until fully frozen.
Once the ice creams are frozen solid, remove them from their moulds. Place a wire rack or similar, over a bowl.
If your caramel is very stiff, gently warm it first until it's more pourable before drizzling over the ice cream.
Grab an ice cream bar and drizzle the caramel sauce over the rounded side of the ice cream until it is coated. Place it on the rack and let any excess caramel drip off for a minute. Then, place the caramel-coated ice creams on parchment paper and in the freezer while you continue with the rest.
In a microwave, melt together the chocolate and oil, in 20-second increments, stirring after each time. Once it's nearly all melted, remove it from the microwave and keep stirring to further melt and combine it. Let it cool down a bit.
Pour the chocolate mixture into a tall glass or jar, wide enough to fit the ice cream bars. One a time, dip the ice cream into the chocolate and let the chocolate mixture coat it completely.
Remove the ice cream bars and let the excess chocolate drip off. The chocolate should stiffen within around a minute. Place the finished ice creams back in the freezer. Let the ice creams freeze again for another hour before serving. The ice cream bars can be wrapped up or stored in an airtight container in the freezer for up to a month.
Leftover magic shell can be stored in a jar in the fridge for up to three weeeks. Gently warm it until liquid again to use.