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1. In a 3-1/2- to 5-quart slow cooker combine sugar and cocoa powder. Stir in milk until combined.
2. Cover and cook on low-heat setting for 3 to 4 hours or on high-heat setting for 1-1/2 to 2 hours.
3. Serve immediately or keep covered on low-heat setting for up to 2 hours. Just before serving, stir in vanilla. If desired, carefully beat milk mixture with a rotary beater until frothy. Ladle cocoa into mugs. If desired, top each serving with marshmallows or whipped cream. Makes 10 (6-ounce) servings.