Begin by preheating your oven to 350°F (175°C). This ensures the cake bakes evenly.
Lightly grease a 9x13-inch baking dish with cooking spray or butter. This prevents the cake from sticking.
In a mixing bowl, combine the all-purpose flour, 1/4 cup cocoa powder, granulated sugar, baking powder, and a pinch of salt. Whisk these together until well blended.
Pour in the whole milk, melted butter, and vanilla extract. Mix until just combined, being careful not to overmix.
Fold in the semi-sweet chocolate chips, ensuring they are evenly distributed throughout the batter.
Spread the batter evenly into the prepared baking dish, smoothing the top with a spatula.
In a separate bowl, mix the remaining 1/4 cup cocoa powder, light brown sugar, and hot water. Stir until combined. Pour this fudge mixture over the batter in the baking dish—do not stir!
Bake the cake in the preheated oven for 30-35 minutes, or until a toothpick inserted in the center comes out clean. The top layer will be set, while the fudge layer remains gooey underneath.
Allow the cake to cool for a few minutes before serving. Scoop warm portions into bowls, top with vanilla ice cream, and drizzle with extra fudge sauce if desired.