Sprinkle gelatin over cold milk in medium saucepan; let stand 1 minute. Cook and stir on low heat about 3 minutes or until gelatin is completely dissolved. Add chopped chocolate; continue cooking and stirring until chocolate is melted and mixture is smooth. Stir in vanilla.

Place saucepan in a large bowl of ice and water. Stir about 3 minutes or until mixture is slightly thickened. Pour into large bowl. Gently stir in whipped topping. Spoon into dessert glasses.

Refrigerate 4 hours or until set. Garnish as desired.

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