Combine the milk, oil, egg, vanilla, sugar, flour, cocoa powder and salt in a blender. Blend on high, until smooth.
Heat an 8-inch nonstick skillet to medium heat. Lightly spray with cooking spray. Pour 2 to 3 tablespoons of the batter while rotating the pan so it distributes evenly. Cook for about 30 seconds to 1 minute (or until the edges have began to crisp) and then flip. Cook for an additional 15-20 seconds and then transfer to a plate. Cook remaining crepes.
Add your favorite toppings to the center of the crepe and then roll up. Add more toppings if desired and enjoy!