In a mixing bowl, combine the instant chocolate pudding mix with your choice of milk. Whisk for 2-3 minutes until smooth and refrigerate for 5 minutes.

Crush the graham crackers into fine crumbs using a rolling pin. Set aside some crumbs for later garnish.

Layer parfaits in 3 oz plastic cups with 3 tablespoons of pudding, followed by the graham cracker crumbs, another layer of pudding, and 1/4 cup of whipped topping.

Sprinkle 1/4 cup of mini marshmallows on top of the whipped topping, distributing evenly for presentation.

Using a kitchen torch, toast the marshmallows until golden, ensuring not to melt the plastic cups.

Sprinkle reserved graham cracker crumbs on top and add a piece of Hershey's chocolate bar on each parfait before serving.

Serve immediately for the best texture and flavor, sharing this delightful treat with family and friends.