Heat the milk in a small saucepan over medium-low heat until warm and steaming, but do not let it boil. Remove from the heat and add the chocolate mixture. Let sit undisturbed for 1–2 minutes to soften, then whisk until smooth. Let cool for at least 5 minutes.

Add the silken tofu and chocolate milk mixture to a blender or food processor and blend until completely smooth. If desired, add your favorite zero-calorie sweetener for extra sweetness.

Divide the mixture among individual containers with lids. Cover, and refrigerate for at least 1 hour, or until firm. Top with raspberries and serve.