In a small saucepan, whisk together the warmed milk, cocoa powder, sugar, and salt until smooth and heated through. Tip: Don’t boil the milk—just warm it gently.

Pour the cocoa mixture into a blender and add the vanilla ice cream and vanilla extract. Tip: Use high-quality ice cream for the creamiest texture.

Blend on high until smooth and creamy, about 30 seconds. Tip: If the shake is too thick, add a splash more milk.

Pour into tall glasses and serve immediately with whipped cream or marshmallows if desired. Tip: Top with a sprinkle of cocoa powder for extra flair.