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In a large saucepan, whisk together the milk, cocoa powder, and maple syrup.
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Bring to a gentle boil over medium heat, stirring constantly.
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Mix in the chocolate chips, cornstarch, and salt, cooking for several minutes until the mixture thickens enough to coat the back of a spoon.
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Remove from heat and pour into a popsicle molds.
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Freeze until solid, or about 6 hours, placing the popsicle sticks in after 30 minutes.