Boil the milk in a vessel. Switch off the flame and add the vinegar into it. Then the milk curdle. Strain the chhena and keep it aside by putting it in a muslin cloth and bind tightly to pass the excess water inside.
In the mean time make the custard by adding milk, custard powder and sugar in it and boil it for 2 minutes. Switch off the flame and keep it in the refrigerator for sometime.
Mash the chhena with your hand for about 15 minutes.
Then add the semolina and half of the cardamom powder into it and again mash it well.
Make small balls of chhena from it and put the Chico chips in the middle.
Prepare the sugar syrup by adding sugar, water and cardamom powder into it.
Then put the chhena balls into it .
Let it boil for about 8-10 minutes in the sugar syrup and now your rasgullas are ready.
At the time of serving put the chocolate stuffed rasgullas on the chilled custard and garnish some chocochips and cashew nuts. Your choco stuffed rasgulla custard is now ready. Enjoy it with your kids.