Place milk in medium saucepan and gently heat over medium setting. Place baking chocolate in saucepan, stirring until melted. Add cocoa, honey and cinnamon and mix well. Set saucepan aside to reduce temperature slowly, stirring occasionally.
When no longer hot (warm to touch is fine), pour mixture into Zipzicle pouches (to fill line) by pinching top open, using funnel or kitchen baster.
Place in an upright position within a container or mug before putting in the freezer. Freeze until solid and enjoy!