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Bring 2 cups low-fat chocolate milk to a boil. Add cinnamon sticks, orange rind and cardamom pods in the milk mixture. Remove from heat and let stand 10 minutes. Meanwhile, finely grate chocolate and place in a bowl. Set aside.
Using a metal strainer, carefully strain out spices from milk mixture. Pour hot milk mixture over chocolate. Stir mixture until well blended. In a saucepan, froth remaining cup low-fat chocolate milk. Pour into individual mugs and top with foam. Sprinkle with grated chocolate, if desired.