In a medium saucepan, whisk heavy cream, milk, sugar, cocoa powder, and salt until it boils.
Reduce to a simmer and add in orange zest. Continue to simmer for 2 minutes.
Remove from heat and add orange extract, vanilla extract, and orange juice.
Cool for at least 4 hours.
To make the orange ice cream follow the same directions as above without the cocoa powder.
Pour cooled mixture into the ice cream maker and follow the manufacturers instructions.
For the chocolate ice cream, add the chopped dark chocolate bits in during the last five minutes.
Transfer finished ice cream into the pan or container with a lid to continue hardening.
Repeat the process with the orange ice cream and add in the orange zest during the last 5 minutes.
Pour Orange into the chocolate mixture to "swirl" them together.
*While the chocolate ice cream is freezing, push some to the sides to create a place for the orange ice cream. That way it is mixed better while you're making your second flavor and not in layers.