Mix the sugar, cocoa, and hot water in a saucepan on medium heat.
Cook and stir over the medium heat until the mixture comes to a boil. Stir constantly for 2 minutes.
Stir in the milk. Heat, but DO NOT boil. Remove from heat and add vanilla.
We typically double this recipe and then transfer it to a slow-cooker on the lowest setting, so we can enjoy it all day.
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