The sensory profile of three commercial brands of milk chocolate beverage was obtained using the Quantitative Descriptive Analysis (QDA). Twelve descriptive terms, their definitions, and reference samples were generated by a selected and trained panel. The statistical analysis included the Analysis of Variance (ANOVA), Tukey's Test for means, and Principal Component Analysis (PCA). Brand A showed strong sweetness taste, aroma, and caramel flavor, whereas the predominant characteristics of brand B were the brown color, viscosity, and very intense sandiness. Brand C differed from the others for presenting stronger aroma and milk flavor. An acceptance test was also performed to evaluate the samples thoroughly in terms of the intensity of the ideal sweetness and buying intention. 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