If you choose to use a 'regular' envelope of cocoa mix I can't vouch for any guilt issues; I just know that using Swiss Miss's 25-calorie 'diet' cocoa and any of the sugar-free versions of flavored 'coffee' syrups makes a superb, chocolate-y treat.
Using a heat-proof measuring cup, put 2 TB hot water in the cup with the contents of one envelope of instant cocoa mix. Mix well. Stir in cold coffee, milk or water until the cup measures 1/2 c. Add 1 TB flavored syrup or soda such as kahlua, amaretto, vanilla, Irish cream, or peanut butter.
Pour over a tall glass filled with as much crushed ice as you can possibly cram into it. Top with whipped cream or whipped topping if desired.
I always use cold coffee, and vary the syrups, usually using Kahlua, vanilla or hazelnut. DaViinci and Toscani each make about 50 sugar-free syrups including mango, cinnamon, gingerbread, lime, eggnog, toasted marshamallow, blue raspberry, and buttered rum. We use them to make our own 'diet' flavored yogurts, using non fat or low fat plain yogurt and a small splash of syrup. There are lots of other delicious ways to use them too, in baking, cooking, milkshakes and other beverages.