1. Stir together the sugar and gelatin in a small saucepan; stir in the milk. Let stand for 2 minutes to soften gelatin. Set over medium heat; cook, stirring constantly, until mixture just begins to boil.
2. Remove from the heat. Immediately add chocolate chips; stir until melted. Stir in vanilla; cool to room temperature.
3. Beat whipping cream in a small bowl until stiff; gradually add the chocolate mixture, folding gently just until blended. Spoon into serving dishes. Chill until ready to serve. Garnish with sweetened whipped cream (if using).
Makes 4 to 6 servings.
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