I sure do remember that flavor at BR, but it wasn't ice cream, it was a sherbet, I think it was called "Mandarin Chocolate", and it was DELICIOUS!

. Here's one recipe I found on the internet (and it sounds a bit weird, to me):
Amount Measure Ingredient -- Preparation Method
-------- ------------ --------------------------------
1 quart soy moo or other vanilla flavored low-fat
OR nonfat soy or ricemilk
1 can frozen orange juice concentrate -- ( 6 oz), thawed
1 cup sugar or equivalent sweetener
6 tablespoons cocoa powder -- (unsweetened)
1 teaspoon vanilla
1/8 teaspoon salt
Stir together and put into an ice-cream maker. Follow ice cream maker's directions.
Here's a second (more normal sounding) version:
Mandarin Chocolate Sherbet
2-3 oranges (1 C. juice) 1 t. vanilla
2 C. milk 1/8 t. salt
3/4 C. sugar 6 T. cocoa
Squeeze enough juice to make 1 cup. In a bowl or pitcher mix sugar and
cocoa and slowly add juice, stirring constantly. Add all remaining
ingredients and mix thoroughly. Chill well. Pour into ice cream maker.
(I've not tried these ... I found them when trying to find an answer to your question. If you try them, let us know how they turn out.)