Step 1: In a medium saucepan, whisk together the cocoa powder, granulated sugar, cornstarch, and salt. This ensures no lumps form when liquids are added.
Step 2: Gradually whisk in the whole milk and heavy cream until the mixture is smooth and combined.
Step 3: Place the saucepan over medium heat and cook, stirring constantly, until the mixture thickens and comes to a gentle boil. Continue to simmer for 1-2 minutes, stirring, until it coats the back of a spoon. This helps cook out the cornstarch flavor and achieve a creamy consistency for your fudgesicle recipe.
Step 4: Remove the saucepan from the heat. Stir in the vanilla extract and sweetened condensed milk (if using). Stir until well combined and smooth.
Step 5: Pour the fudgesicle mixture through a fine-mesh sieve into a heatproof bowl or large measuring cup. This removes any potential lumps and ensures a super smooth texture.
Step 6: Let the mixture cool completely to room temperature. For faster cooling, you can place the bowl in an ice bath, stirring occasionally. Once cool, cover and refrigerate for at least 1-2 hours, or until thoroughly chilled.
Step 7: Once chilled, pour the fudgesicle mixture into your ice pop molds, leaving about 1/4 inch of space from the top for expansion. Insert popsicle sticks.
Step 8: Freeze for at least 4-6 hours, or preferably overnight, until completely solid. For best results with this fudgesicle recipe, ensure they are fully frozen before attempting to unmold.
Step 9: To unmold, run the outside of the molds under warm water for 10-15 seconds, then gently pull to release the fudgesicles. Enjoy your homemade treat!