Combine sugar, cocoa and cornstarch in a medium saucepan and gradually whisk in milk. Place over medium heat; bring to a simmer whisking frequently. Reduce heat; simmer until thickened, about 2 minutes, whisking frequently. Remove from heat and stir in peanut butter until it melts. Spoon mixture into plastic cups; place cups in an 8-inch baking pan or pie pan. Place popsicle sticks in centers. Freeze until firm. Makes 4 servings.
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