Add your chocolate and milk into a bowl and microwave in 20 second increments until melted. Put off to the side and let it cool for a few minutes.
Grab a blender and add your silken tofu, vanilla extract, cocoa powder, maple syrup, cooled melted chocolate, and some salt. Blend until creamy.
Grab small jars or a container and pour your mousse into it.
Let is set in the fridge for 1-2 hours. Serve with crushed nilla wafers, fresh fruit or whipped cream! Enjoy!