This is the original Brigadeiro recipe which has the ball shape. There is another post with the cup brigadeiro version in my blog.
Ingredients:
1 can condensed milk (you can find at Ralphs)
3 tablespoons unsweetened cocoa powder (you can use regular chocolate power instead)
1 tablespoon unsalted butter
chocolate sprinkles for decoration
How to prepare:
1. In a medium saucepan, set over medium-low heat, add the sweetened condensed milk, unsalted butter and salt. Sift in the cocoa powder as to avoid lumps; mix until thoroughly combined.
2. Stir continuously for about 10 to 15 minutes, until the mixture has thickened. A good test is to swipe a spatula through the mixture and if it's thick enough to separate so you can see the bottom of the pan, then it's good to go. Pour the mixture into the lightly greased bowl. Cover with plastic wrap and transfer to the fridge to chill for at least 3 hours or overnight.
3. Prep your decorating ingredients. On a large plate or cutting board, arrange the mounds of sprinkles. Lightly grease your hands with cooking spray or butter. Using a teaspoon, scoop out about a teaspoon of the chocolate mixture and roll it, on your palms, into a 1 1/2-inch ball and place inside of a small cupcake liner. Roll the ball in the sprinkle. Repeat the rolling and decorating process until you've worked your way through all of the chocolate mixture, spraying your hands with cooking spray every so often.
4. Transfer the brigadeiros onto a cutting board or plate and place in the refrigerator until you're ready to serve.
Enjoy!! Any questions let me know!
Cheers
--Lu
Recipe reference:
http://www.pbs.org/food/fresh-tastes/brigadeiro/
