1. Stir together milk powder, sugar, cocoa and cornstarch in medium saucepan. Gradually stir in 2 cups nonfat milk. Cook over medium heat, stirring constantly, until mixture is smooth and slightly thickened, about 5 minutes.
2. Remove from heat. Stir in remaining 2 cups milk, 1/4 teaspoon orange peel and orange extract. Cover; refrigerate several hours until cold.
3. Pour mixture into 2-quart ice cream freezer container. Freeze according to manufacturer's directions. Before serving, let stand at room temperature until slightly softened. Scoop 1/2 cup ice milk into each Orange Cup or 8 individual dessert dishes. Garnish with additional orange peel, if desired.
Orange Cups
Cut about 1-inch slice from tops of 8 oranges; discard. Using sharp knife, cut out and remove small triangle shaped notches around tops of oranges to make zig-zag pattern. Scoop out pulp; reserve for other uses.
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