Preheat your oven to 350°F (175°C) and line a muffin tin with cupcake liners.
In a large mixing bowl, sift together flour, sugar, cocoa powder, baking soda, baking powder, and salt.
In a separate bowl, whisk together eggs, whole milk, vegetable oil, and vanilla extract until well blended.
Slowly add the wet ingredients to the dry ingredients, stirring gently until combined. Avoid overmixing.
Carefully pour boiling water into the batter; the batter will be thin, which is perfect.
Pour batter evenly into cupcake liners, filling each about two-thirds full.
Bake for 18-22 minutes or until a toothpick inserted in the center comes out clean. Let cool completely on a wire rack.