I found this recipe on mbl.is recipe a while ago, and it's my favorite dessert to make when throwing a dinner party. The best thing about it is that you can prepare it the day before, and just take it out of the freezer an hour before serving.
It's a large recipe, and it's the kind of sweet you can't bear in large quantities, so I estimate that half a recipe would be enough for 4 persons.
Soak the gelatin in cold water, and weigh the chocolate. Boil the milk, drain the gelatin and add to the milk. Pour 1/3 of the milk into the bowl of chocolate, stir until chocolate is shiny and its texture is starting to thicken. Add the rest of the milk while stirring. Add the whipped cream when the chocolate is around 35-40°c. Pour in a (silicon) form, add a few raspberries and freeze.
I use heart-shaped silicon forms, and serve it with raspberry sauce (add frozen raspberries and agave sirup to a pot, stirring on low heat for a few minutes).