Step 1: Gather all ingredients and equipment to ensure a smooth cooking process.

Step 2: In a medium saucepan, pour 2 cups of milk and heat over medium heat for 3 to 4 minutes, stirring occasionally, until hot but not boiling.

Step 3: In a small bowl, combine 2 tablespoons of unsweetened cocoa powder and 2 tablespoons of granulated sugar.

Step 4: Whisk the cocoa-sugar mixture into the hot milk for 1 to 2 minutes until fully dissolved and smooth.

Step 5: Stir in 1/2 teaspoon of vanilla extract and a pinch of salt, and cook for another 30 seconds to blend flavors.

Step 6: Taste the hot cocoa and adjust sweetness by adding more sugar if desired.

Step 7: Pour the hot cocoa into mugs and serve immediately.

Step 8: Top with whipped cream or marshmallows as desired, and enjoy your warm beverage.