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In a medium bowl, whisk gelatin with 3 tablespoons cold water. Place chopped chocolate in another medium bowl. In a large bowl, combine Nutella and salt.
In a small saucepan over medium heat, bring cream to a boil. Pour half the cream over gelatin mixture and whisk gently to combine; stir in vanilla. Pour remaining cream over chopped chocolate; whisk until smooth. Combine two mixtures; whisk well.
Pour one-third of the gelatin-chocolate mixture over Nutella; beat using an electric mixer on low speed until a smooth paste forms. Pour in remaining mixture and milk; beat until fully combined.
Strain through a fine-mesh sieve into six ramekins. Cover loosely with plastic wrap and chill in refrigerator until set, about six hours or overnight. Serve sprinkled with chopped hazelnuts, if desired.