Step 1: Whisk together in a saucepan: sugar, Dutch-process cocoa powder, cornstarch and salt, then whisk in milk and cream. Over medium heat, bring to just under a simmer, whisking constantly. When the mixture thickens. Remove from the heat and whisk in chopped bittersweet or semisweet chocolate and vanilla.
Step 2: Pour the mixture into popsicle molds, small paper cups, or tall, thin glasses. Cool completely before freezing. If using a popsicle mold, you can set it in a large bowl of ice water to cool it rapidly, or you can simply place the molds in the refrigerator to cool before freezing.
Step 3: When the mixture is cool, place in the freezer to cool completely. If you have a mold with a tight-fitting lid, you can insert the popsicle sticks before freezing. Otherwise, allow the mixture to freeze until slushy, about 2 1/2 to 3 hours, the insert popsicle sticks and freeze completely.
Step 4: To unmold, dip the molds in cool water until the fudgsicles release easily. Because these pops are a bit melty, I like to place them in a single layer on a parchment or wax paper-lined baking sheet and place them in the freezer until solid.
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