1. Combine first 4 ingredients in a small saucepan; cook over medium heat until mixture is smooth and creamy, stirring frequently. Add cocoa and vanilla; stir until blended.
2. Place chocolate mixture and tofu in a blender; process until blended. Pour mixture into each of 8 (4.5-ounce) ramekins or custard cups. Cover and chill at least 2 hours. Top each serving with whipped topping and raspberries.