Heat the milk and vanilla in a medium saucepan over medium heat until hot and steaming. Combine the sugar, cocoa powder, chocolate, crushed peppermint and salt in a bowl, then whisk into the milk. Reduce the heat to low and simmer, stirring, until the chocolate and peppermint melts and the cocoa thickens slightly, about 2 minutes. Divide among 4 mugs, top with dollops of whipped cream. Sprinkle with crushed peppermint and serve each with a peppermint stick.
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