Here is a recipe I found at www.Hersheys.com that fits the bill--perfectly!
1 14-oz can sweetened condensed milk
1/3 cup Hershey's cocoa powder
3 tablespoons butter
2 tsp. instant coffee granules
2 tsp. hot water
2 cups heavy cream, chilled
Combine sweetened condensed milk, cocoa, butter, and coffee (dissolved in hot water) in medium saucepan. Cook over low heat, stirring constantly, until butter melts and mixture is smooth. Remove from heat; cool.
Beat whipping cream in large bowl until stiff. Gradually fold chocolate mixture into whipped cream. Spoon into dessert dishes or parfait glasses. Refrigerate until set, about 2 hours. Garnish as desired.