In a low heat setting on your stovetop, combine the whole milk and heavy cream. Warm the mixture gently to prevent scorching.

Add the dark chocolate to the warm milk and cream, and whisk continuously until fully melted and smooth.

Turn off the heat and stir in the vanilla extract and instant coffee, mixing until coffee is completely dissolved.

Taste and add sugar gradually, stirring until it reaches your preferred sweetness.

Pour into small cups and optionally top with whipped cream before serving.