Vigorously whisk the milk, chia seeds, cocoa powder, maple syrup and vanilla extract in a medium bowl, being careful to incorporate any cocoa powder sticking to the sides and bottom.
Divide the mixture in half and cover the chia pudding and refrigerate at least 4 hours, or preferably overnight.
Enjoy with nuts and berries, if desired.
Notes
Substitutes: you can use any other plant-based milk or regular milk. Replace the honey with maple syrup, agave syrup, date sugar or another sweetener or choice.