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Make this part first, allow to set in the fridge for 1-2 hours before moving onto the mousse.
Combine the milk, yolks, sugar in a saucepan and warm to thicken - this can scramble quickly so dont overdo it.
Once warm, add in the gelatine and chocolate and allow to melt completely - if it doesnt melt all the way, throw it in the microwave for 30 seconds to fully melt down.
Allow this base mix to cool before folding through the whipped cream. If you dont allow it to cool, the cream will collapse when folding through.