In a medium saucepan, combine sweetened condensed milk, cocoa powder, butter, and salt.
Cook over medium heat, stirring constantly to prevent sticking.
Continue cooking until the mixture thickens and starts to pull away from the sides of the pan.
Remove from heat and let the mixture cool for about 10 minutes.
Once cool enough to handle, grease your hands with butter.
Take small portions of the mixture and roll them into balls.
Roll the balls in chocolate sprinkles until fully coated.
Place the Brigadeiros on a plate lined with parchment paper.
Let them cool completely to firm up.
Serve and enjoy your homemade Brigadeiros!