Nutrition per serving may change if servings are adjusted.
½ cup nonfat sweetened condensed milk
½ cup sugar
¼ cup unsweetened cocoa powder, preferably Dutch-process
1¼ cups low-fat milk
1 teaspoon pure vanilla extract
Whisk sweetened condensed milk, sugar and cocoa in a heavy saucepan until smooth. Stir the mixture with a wooden spoon over medium-low heat until it comes to a simmer; continue stirring for 1 minute. Very gradually, whisk in the low-fat milk, stirring to dissolve all the cocoa-sugar mixture. Remove the pan from the heat and stir in vanilla. Pour into individual frozen-treat molds or small paper cups. Freeze for about 1 hour, or until beginning to set. Insert frozen-treat sticks and freeze until completely firm.