Add the condensed milk and vanilla essence and beat until all combined.
Spread the mixture in a 9x13 tin lined with baking paper.
Place in the freezer until set. (Around 1 - 2 hours)
Take the ice cream out of the freezer and slice into 32 bite size pieces and place back in the freezer.
While that is setting back up melt your chocolate.
Add the sliced almonds to the melted chocolate and allow the chocolate to come to room temperature.
Line a baking tray with non stick paper and grab a fork.
Take the ice cream back out of the freezer, place a piece of ice cream on the fork and dip in the chocolate.
Place on the tray and repeat.
Work fast for this as the ice cream will melt and the chocolate will harden.
Notes
You can use milk or dark chocolate for these. I used a mixture of both. You may need to melt the chocolate and dip the ice cream in two batches if you don't think you can work fast. That means melting 200g of chocolate at a time.