In a medium saucepan, whisk together cocoa, sugar, salt, and cornstarch. Slowly whisk in 1/2 cup of the milk and turn the heat to medium. Whisk constantly until sugar and cocoa are disolved, about 2 minutes.
Whisk in the remaining 2 cups of milk and bring to a gentle boil, whisking constantly. Reduce heat to low and allow the mixture to thicken, which takes about 5 minutes. Be sure to whisk every 30 to 60 seconds to prevent the milk from scalding.
Place chocolate chips in a large mixing bowl and place a fine-mesh strainer over the bowl, strain the pudding mixture over the strainer.
Add the vanilla extract and stir until the choclate chips have melted.
Refrigerate chocolate pudding mixtures for 15-20 minutes to cool.
Once the mixture is cooled, gently fold in whipped topping to incorporate.
Pour into popsicle molds and freeze until solid--at least 4 hours.
To remove a fudgesicle form the mold, place the mold under running hot water for a few seconds.
Sugar: Use coconut sugar, raw sugar, or granulated sugar.
Milk: Use canned or refrigerated unsweetened coconut milk or whole milk for the best results. You can also use unsweetened plain almond milk, soy milk, or cashew milk if desired.
Chocolate Chips: Be sure to use dairy-free chocolate chips if you are vegan or dairy-free.
Whipped Topping: Coolwhip, SoDelicious Cocowhip, or TruWhip are all great options for this recipe.
Homemade Fudgesicles can be stored in the freezer for up to 3 months. Nutrition has been calculated using TruWhip and Whole Milk.