Combine sweetened condensed milk, butter, and cocoa powder in a heavy-bottomed pan.

Cook over medium heat, stirring constantly, for about 12 minutes, until the mixture thickens and pulls away from the sides and bottom of the pan.

Pour the mixture onto a lightly greased plate or pan and let it cool completely.

Once cooled, use a small scoop or measuring spoon to portion the mixture into equal-sized amounts.

Place sprinkles on a separate plate.

Grease your hands lightly with butter or cooking spray.

Roll each portion of the mixture into a smooth ball using your hands.

Roll the ball in sprinkles, ensuring the entire surface is coated.

Place the sprinkle-coated Brigadeiro in a paper candy cup and serve.