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Begin with the frosting to allow time for it to cool.
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Mix the sugar and cocoa together in a small saucepan.
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Add half of the milk, stirring constantly until blended.
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Then add the rest of the milk.
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Cook on medium heat until the mixture begins to boil.
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Lower heat and let simmer for a 3 minutes.
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Remove from heat and let cool for 3 minutes.
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Add the vanilla and chocolate chips, mixing until dissolved.
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Let cool at room temperature, or cover and refrigerate for future use.
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For the cake, preheat the oven to 350 degrees.
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Mix the flour, baking powder, baking soda, and salt in a medium bowl.
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In a large bowl, mix the butter and sugar until well blended.
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Add the eggs to the butter/sugar mixture.
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Gradually add the flour mixture and yogurt to the butter/sugar mixture.
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Fill muffin molds 2/3 full and bake for about 20 minutes until it passes the clean toothpick test.
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To frost, hold a muffin upside-down over the frosting, gently dunk it and twist as you pull it out.