In blender container, combine milk, rum, cream of coconut, dry milk powder, and cocoa powder. Cover; blend at a low speed until mixed. Scrape down blender container with rubber spatula. Cover; blend again at a low speed until well-combined.
Remove lid and plastic liner (if any) from ice cream carton. Microwave at 50% (medium) power for about 15 to 20 seconds, or just until slightly softened.
Working quickly, add softened ice cream to blender container by large spoonfuls. Cover; blend at highest speed until combined. Quickly scrape down blender container. Cover; again blend at highest speed just until smooth. Garnish with a rosette of lightly sweetened whipped cream, if desired. Serve immediately.
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