Preheat the oven to 350 degrees F. In a medium bowl, combine the sugar, flour, cocoa powder, and brown sugar. Mix well to combine. Stir in the milk, butter, and vanilla. Mix well and pour into a greased 8 x 8-inch baking dish.
Bake for 35 minutes. The center will still be jiggly. Allow to cool slightly, then spoon into serving dishes and serve warm alongside vanilla ice cream.
* If nutritional values are provided, they are an estimate and will vary depending on the brands used. The values do not include optional ingredients or when ingredients are added to taste.
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