Step 1 In a medium saucepan, heat the milk over medium-high heat until it comes to a good simmer. When it begins to bubble, stir in the chocolate. Cook, stirring occasionally, until the chocolate melts, about 5 minutes, then continue to simmer gently a few minutes until the chocolate and milk are fully combined. Remove from heat and whisk the chocolate with a molinillo or wire whisk until frothy before serving.