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In a medium saucepan, whisk together milk, cacao powder, brown sugar, and salt until smooth.
Place over medium-low heat and warm gently, stirring frequently. Do not let it boil.
Once hot and steaming, add the chopped dark chocolate and whisk until fully melted and smooth.
Remove from heat and stir in the heavy cream and vanilla extract (if using).
Pour into mugs and serve warm, optionally topped with softly whipped cream. Bon appétit.