Dad's Fudge (from the hershey cocoa box)
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3 c. sugar
2/3 c. cocoa
1/8 tsp. salt

1 1/2 c. milk 
1/4 c. butter (1/2 stick)
1 tsp. vanilla

Mix the sugar, cocao and salt together, then add the milk.  Cook the mixture over medium heat stirring constantly until the mixture comes to a rolling boil.  Boil without stirring to 234F (116C) or soft ball stage (DON'T LET THE THERMOMETER TOUCH THE BOTTOM OF THE SAUCEPAN).  Remove from heat and add butter and vanilla.  DO NOT STIR.  Cool at room temperature to 110F (43 1/3C).  Beat with a wooden spoon till fudge thickens and loses some of its gloss.  Spread quickly into buttered 8" or 9" square pan.

My Modified Directions:

DO NOT RAISE THE HEAT!!! (LEAVE ON MEDIUM).  IT"LL TAKE A WHILE BUT IT"S WORTH IT.

GET A GOOD THERMOMETER

Stir mixture constantly until it boils (Don't scrape the sides, this seems to help prevent burnt tasting fudge)

Don't stir after Boil

You don't have to let the fudge sit after remove from heat.  Stir after butter/vanilla, pour into pan after butter fully incorporated (don't wait too long)

NOTE: 2% milk didn't burn, but may be due to what else I changed above.. might try whole again, but 2% tastes really good.