Combine the milk and vanilla and heat on medium flame. Once it has simmered set the pot aside.
Seperate the eggs and place the egg yolks in a heat resistant mixing bowl. Add the sugar to the bowl. Bring a medium size pot half filled with water to a simmer (make sure the mixing bowl fits on top of the pot).
Using a whisk beat the eggs over the water bath until the sugar has completely dissolved and the eggs are foamy (careful not to scramble the eggs).
Now pour the still warm milk through a sieve into the egg mixture while whisking gently. When all is well combined place the bowl back on the pot with the water slow simmering.
Using a whisk or spatula keep stirring while the milk and egg mixture is starting to thicken. This step will take quite a while so don't give up too early.
To check if it's ready, run the custard over the back of a spoon or spatula. If it coats the spoon entirely it is ready.
While the mixture is still hot, add the gelatine. Make sure to squeeze the gelatine beforehand to get rid of any excess water. Mix well with a whisk.
Now pour the mixture over the chopped chocolate in the bowl and stir well until it has melted.
When the chocolate mixture has cooled enough, carefully fold the whipped cream under the mix.
Fill up the glasses with the chocolate bavaroise and place in the fridge covered for at least 2 hours or until set enough.