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Whip egg yolks with sweetener until very thick and light lemon color (forms a ribbon when the whisk is lifted).
Place milk with vanilla and cocoa in a medium saucepan and bring to a boil. Remove from heat and add gradually to beaten egg yolks. Mix well and return to low heat, stirring, until mixture thickens (mixture must not boil). Remove from heat and cool to lukewarm.
Soften gelatin in milk and cook at low heat for 1 minute, just until dissolved. Add to yolk mixture, stirring.
Whip egg whites until thick (as for meringue) and fold into cold yolk mixture gradually.
Transfer to individual cups or ramekins and chill.
Combine vanilla yogurt with cinnamon.
Invert puddings to serve and pour with the yogurt and cinnamon sauce.
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