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1. In a small saucepan, whisk together sugar and cocoa powder. Set aside 2 tablespoons of the 2 3/4 cups milk. Whisk in enough of the remaining 2 3/4 cups milk to make a paste. Whisk in the remainder of the 2 3/4 cups milk. Heat and stir over low heat until sugar is dissolved.
2. Pour chocolate mixture into clean ice cube trays. Cover and freeze for 6 hours to overnight.
3. Run hot water on bottom of ice cube trays to help release chocolate cubes. Place chocolate cubes in a large food processor. Add the reserved 2 tablespoons milk. Cover and process until mixture is smooth and lightened in color.
4. To serve, spoon 1/2 cup of the chocolate mixture into each of eight 6-ounce glasses. Using the 1 to 2 cups milk, spoon 2 tablespoons to 1/4 cup of the milk on top of chocolate mixture in each glass; stir slightly. If desired, garnish with marshmallows.