Cook milk in a heavy nonaluminum saucepan over medium-high heat 2 to 3 minutes or until tiny bubbles begin to appear around edges of pan. Remove from heat.
Combine chocolate morsels and next 4 ingredients in a blender. Process mixture on low speed 20 seconds or until smooth. With blender running on low, add milk in a slow, steady stream, processing 1 minute or until smooth.
Pour 1/3 cup chocolate mixture into each of 12 (5-oz.) glasses. Cover and chill 4 to 24 hours. Top with whipped cream, and garnish, if desired.