In a small saucepan on medium heat, add milk and chocolate. Stir until chocolate melts into a smooth sauce.
Stir in the honey and vanilla extract.
In a medium sized bowl, add Greek yogurt and slowly pour the chocolate mixture over the top. Stir until incorporated. Cover bowl with plastic wrap and place in the fridge to chill for 2 hours.
Once chilled, serve cold. Optional: top with whipped cream, extra Greek yogurt, chocolate shavings and/or your favorite fresh berries.