Preheat oven to 350 degrees and fill cupcake pan with liners.
In a large bowl stir together sugar, flour, cocoa, baking powder, baking soda, and salt. Add eggs, milk, oil, and vanilla and mix for 2 minutes. Slowly stir in boiling water.
Pour one tablespoon of batter into cupcake pan.
Bake for 10-12 minutes; cool completely.
Top cupcakes with slightly melted ice cream; freeze for 2-3 hours or preferably overnight.
When ready to serve top with toasted marshmallow, hot fudge sauce and crushed graham crackers. Enjoy!