I searched online for a recipe and couldn't quite find one I liked, so I made up the one below and it is TO DIE FOR! I usually mix in mini chocolate chips and crushed Oreos, but you can use whatever mix-ins you like.
Chocolate Pudding Ice Cream
1 c. skim milk
1/2 c. sugar
1 (3.4oz package) Chocolate Fudge Pudding (Instant)
2 c. whipping cream or heavy cream
1 tsp. vanilla
Whisk all ingredients together. Chill for two hours. Turn on ice cream maker and pour mixture into machine while still moving. Process for 15-20 minutes. Add mix-ins during the last 5 minutes.
I usually just throw the mix-ins in, but I'd guesstimate that I use about 1/2- 3/4 c. mini chocolate chips and the same amount of crushed Oreos. As they start to mix into the ice cream, you'll have a better idea of if you want more or less.
I also have made this ice cream with a mixture of different milks and creams. I find that if you have a lower fat content in one, you want to have a higher content in the other. I have used skim milk and light cream which made the ice cream much less smooth- it got a bit like ice crystals, which completely defeats the purpose of adding the pudding I think!