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Gather all ingredients.
Combine condensed milk, cocoa, and butter in a medium saucepan over medium heat. Cook and stir until thickened, about 10 minutes.
Transfer mixture into a shallow bowl and allow to cool.
Pinch off some of the dough and roll into a small ball; place on a plate. Repeat with remaining mixture, then roll each brigadeiro in chocolate sprinkles.
Enjoy or chill brigadeiros until ready to serve.