Preheat the oven to 350° F. Prepare a 12 cup muffin pan with Pam baking spray or paper muffin liners.
In a large bowl, whisk together the cocoa, flour, sugar, baking powder, baking soda, and salt. Set aside.
In a medium mixing bowl, whisk together the eggs, coffee, milk, vanilla, vegetable oil and vinegar. Add the wet ingredients to the dry ingredients, stirring to blend; making sure everything is well-combined.
Spoon batter into prepared muffin cups, filling 3/4 full. Bake in preheated oven for 22 minutes, or until toothpick inserted into the center comes out clean. Remove and let cool. Frost with glaze.