Low-Fat Fudge Pops

1 (14 ounce) can fat-free sweetened condensed milk
1/2 cup granulated sugar
1/2 cup baking cocoa
2 1/2 cups skim milk
Artificial sweetener equivalent to 1/2 cup sugar
1 teaspoon vanilla extract
12 (3 ounce) disposable plastic cups
12 Popsicle sticks

In a heavy saucepan, combine the first 3 ingredients; stir until smooth. Bring to a boil over medium-low heat; cook and stir for 1 minute. Gradually whisk in skim milk, whisking until cocoa and sugar are dissolved. Remove from the heat; stir in the sweetener and vanilla.

Pour into cups. Cover each cup with heavy-duty foil; insert sticks through the foil (foil will hold sticks upright). Place in a 13 x 9-inch pan. Freeze until firm, about 5 hours. Remove the foil and cups before serving.

Serves 12.