Preheat the oven to 350°F (175°C) and line a muffin tin with cupcake liners.

In a large bowl, whisk together flour, cocoa powder, sugar, baking powder, baking soda, and salt.

In another bowl, combine eggs, milk, oil, and vanilla extract; whisk until smooth.

Pour the wet ingredients into the dry ingredients and mix gently until just combined.

Fill each cupcake liner about two-thirds full with batter.

Bake for 18-20 minutes or until a toothpick inserted comes out clean. Allow to cool before frosting.