Preheat oven to 350 F. Prepare 2 9-inch cake pans with parchment paper and grease lightly with non-stick cooking spray. Set aside.
In a large bowl, whisk together flour, granulated sugar, cocoa powder, salt, baking powder and baking soda. Whisk in eggs, milk, vegetable oil and vanilla extract until smooth.
Evenly divide batter between the prepared cake pans. Bake for 30-35 minutes. Let cool completely.
For the vanilla ice cream, using a mixer whip heavy cream until stiff peaks form. Fold in sweetened condensed milk and vanilla extract. Cover and freeze for at least one hour.
Place one cooled cake layer into a 9-inch cake pan that has been lined with parchment paper. Evenly spread the ice cream over the cake and place the remaining cake layer on top of the ice cream. Cover and freeze for at least 4 hours.
For the whipped cream frosting, using a mixer whip heavy cream along with granulated sugar until stiff peaks form. Remove cake from freezer and release from the spring form pan.
Cover the cake with the whipped cream frosting and store in the freezer until ready to serve.
