With a mixer, beat heavy whipping cream until thick. Pour in sweetened condensed milk and vanilla and fold in until smooth.
Next, pour half the ice cream into a freezer safe container. Top with half of the raspberries and half of the chocolate. Repeat with another layer and top with the remaining berries and chocolate.
Freeze for 5-6 hours or overnight. When it is time to serve, remove from freezer and let sit on the counter to soften for 5-10 minutes before serving.