Place the mochi, sugar, and milk in a large microwave-safe bowl and heat in the microwave at 600W for 1.5 minutes.

Stir with a spoon until it becomes a smooth paste. (If it's too hard, heat for an additional 10 seconds at a time.)

Spread cocoa powder on a piece of parchment paper, then transfer the cooled mochi from step 2 onto the cocoa.

Coat the mochi with cocoa, divide it into three parts, flatten each piece, place a Pino ice cream in the center, and wrap it up.

If not eating immediately, keep in the freezer until just before serving. (If the mochi becomes too hard, let it sit at room temperature for a bit before enjoying.)