Heat oven to 350°F. Spray 24 miniature muffin cups with cooking spray. Press 1 tablespoon cookie dough in bottom and up side of each muffin cup, forming cup shape.
Bake 12 to 14 minutes or until light golden brown. Cool completely in pans on cooling racks.
In chilled medium bowl, beat whipping cream with electric mixer on medium speed until soft peaks form. Add powdered sugar, cocoa and vanilla. Beat on high speed until stiff peaks form. Spoon chocolate cream into decorating bag fitted with #1mm star tip.
Carefully remove cookie cups from pans. Pipe chocolate cream into cups. Store in refrigerator.