In a large saucepan boil water with the two cinnamon sticks.
Remove from the heat, cover and let the cinnamon sticks steep for 30-45 minutes (depending on how cinnamony you like your Champurrado.)
Remove the cinnamon sticks from the water, return to a slow boil and add the chocolate. Bring to boil while constantly stirring the chocolate as it melts.
Add the brown sugar or piloncillo. Whisk until well blended.
Slowly add the masa harina to the warm water, whisking until combined.
Add milk and whisk until smooth and well blended.
Warm over medium heat just until boiling; reduce heat. Simmer, uncovered, about 10 minutes or until chocolate is completely melted and sugar is dissolved, whisking occasionally.
If the champurrado is too hot, pour it back and forth between two cups to cool it off. That’s what my mama did.
Optional: Top with whipped cream. This is my daughters' preferred way to drink it.