Preheat oven to 350° F (180° C). Place cupcake liners in cupcake tin.
In a large mixing bowl, add the milk, sugar, oil, vinegar, and vanilla extract. Mix until well combined.
In a medium bowl, stir together the flour, cocoa powder, baking soda and salt.
Gradually add the dry mixture to the wet ingredients and beat until smooth and no lumps of flour remain.
Spoon the batter into the cupcake liners, about ¾ full
Bake 20-24 minutes, until the cupcakes spring back when touched or a tookpick inserted into the center of the cupcake comes out clean.
Allow the cupcakes to cool on a wire rack