For the ganache, place a heatproof bowl over a saucepan of simmering water. (Make sure the bottom of the bowl doesn’t touch the water.) Turn off the heat, place the chocolate in the bowl and stir until melted. Beat in the milk until smooth. Cover with plastic wrap and refrigerate until firm.
Preheat the oven to 180°C. Grease six holes in a standard muffin tin.
For the cakes, in a large bowl, sift the flour, cocoa (or cacao), baking powder and bicarbonate of soda with the salt. Mix well. In a food processor, blend the tofu, milk, syrup of your choice, oil and vanilla. Pour the wet ingredients into the dry and mix to combine.
Half fill the prepared muffin holes with the cake mixture. Place 1–2 tablespoons of ganache on top, then spoon in more cake mixture to fill each hole. Bake for 15 minutes, or until the cakes are firm to touch and pull away from the side of the tin.
Dust with the cocoa (cacao) powder and serve with the ice cream and some scattered berries.