Combine milk, Irish Cream, and sugar in a medium saucepan and bring to a light simmer over medium heat. There should be bubbles around the edge of the pot before removing from heat.
Meanwhile, melt the chocolate in the microwave on 30-second intervals, stirring between each one, just until melted.
Whisk the melted chocolate into the milk mixture in the saucepan off the heat, pour into 2 mugs and top with whipped cream and chocolate curls or a dusting of cocoa.