In a saucepan, heat soy milk, sugar, and cocoa powder to a simmer while whisking. Once mixture comes to a simmer, remove from heat and add chocolate. Whisk until combined. Pour mixture into blender and process until chocolate is emulsified 2-3 minutes. Add vanilla extract and Grand Marnier. Cool in an ice bath and spin in an ice cream maker.
Chocolate Magic Shell:
Heat chocolate until melted; add oil. Fold in crushed cereal and candied soy nuts. Dip soysicles in mixture. Let harden in the freezer. Remove from freezer and enjoy!!