Whisk together cocoa powder, coconut sugar, cornstarch, and peanut butter powder in a saucepan. Slowly pour in 1/4 of the chocolate-flavored almond milk; whisk to combine. Turn heat to medium-high. Pour in remaining almond milk and continue whisking until mixture has thickened, about 8 minutes. Stir in almond extract and peanut butter flavoring.
Remove from heat. Allow to cool before serving, at least 1 hour.