Bring the milk with the scraped out vanilla pulp and the vanilla pod to the boil. Fish out the vanilla pod, remove any pulp from it and add to the milk. Remove the milk from the stove. Break the chocolate into small pieces and add to the milk together with the sugar while stirring. Dissolve completely.
In the meantime, reduce the orange juice to about 2/3 in a second saucepan. Add the reduced juice and the orange liqueur to the chocolate. Pour the hot orange chocolate into cups, decorate with a tablespoon of whipped cream, a little grated orange peel and chocolate chips and serve.