Place six 8-ounce ramekins on a baking sheet; set aside. Pour the milk in a small bowl. Sprinkle the gelatin evenly over the milk, and let soften for 5 minutes.
Combine cream and sugar in a medium saucepan. Place over medium-high heat, and bring to a boil, stirring to dissolve sugar. Add gelatin mixture, whisking to combine. Remove from heat, and stir in chocolate and vanilla. Whisk until thoroughly combined. Pour through a fine sieve into a large glass measuring cup. Divide mixture evenly between ramekins; chill until set, at least 4 hours.
To serve, top with whipped cream and sprinkle with edible gold dust, if desired.