Fudge Pops

In a heavy saucepan, combine the first 3 ingredients; stir until smooth. Bring to a boil over medium-low heat; cook and stir for 1 minute. Gradually whisk in skim milk, whisking until cocoa and sugar are dissolved. Remove from the heat; stir in the sweetener and vanilla. Pour into cups.

Cover each cup with heavy-duty foil; insert sticks through the foil (foil will hold sticks upright). Place in a 13x9 inch pan. Freeze until firm, about 5 hours. Remove the foil and cups before serving.