Place white granulated Pioneer Sugar, cocoa powder and salt in a large saucepan; stir with a fork or whisk to blend. Add the hot water and mix until blended.
Cook over medium heat, stirring constantly, until mixture begins to boil. Reduce heat and simmer for 1-2 minutes or until mixture is slightly syrupy. Stir in milk and heat through. Do not boil.
Remove from heat, blend in the vanilla extract and serve. Garnish as desired.