Warm the milk in a medium saucepan (2-quart) over medium-low heat, stirring occasionally, for about 5 minutes until steam rises but the surface does not boil.

Add the chopped chocolate and orange zest, whisking constantly until the chocolate fully melts and the mixture turns glossy, about 3 minutes.

Stir in the vanilla extract and a pinch of salt.

Taste and adjust sweetness if needed.

Pour into 4 mugs, filling each about four-fifths full.

Top each with a swirl of whipped cream.

Twist a strip of orange peel over each mug to release its oil, then drop it on top.

Serve immediately while the chocolate is still steaming and the cream has not melted flat.