Wisk together the milk, egg yolks, maple syrup, sucanat, arrowroot powder, cocoa powder and salt in a large saucepan and heat over a medium heat.
Stir continuously as the mixture thickens. This usually takes about 7-10 minutes. Do not overheat or burn the mixture.
When the mixture coats the back of a spoon, remove it from the heat.
Stir in the butter and vanilla.
Pour the pudding into containers and eat it while warm or put in in the refrigerator to cool and form a wonderful "skin".