In a small saucepan, combine the cocoa powder, sugar, and salt. Stir them together until well mixed.

Gradually add 2 tablespoons of milk to the dry ingredients, stirring continuously to create a smooth paste. This will help prevent lumps.

Once the paste is smooth, slowly add the remaining milk to the saucepan while stirring.

Place the saucepan over medium heat. Heat the mixture while stirring frequently until it is hot but not boiling.

Once heated, remove the saucepan from the heat and stir in the vanilla extract.

Pour the hot chocolate into mugs and top with whipped cream or marshmallows if desired.

Serve immediately and enjoy your delicious homemade hot chocolate!