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Combine the milk and cinnamon stick in a medium saucepan over medium heat, stirring occasionally, until the milk is steaming and small bubbles form around the edges, about 4–5 minutes. Do not let it boil.
Add the chopped dark chocolate, cocoa powder, sugar, and salt. Reduce the heat to medium-low and stir continuously until the chocolate is fully melted and the mixture is smooth and uniform, about 2–3 minutes.
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