1.Preheat oven to 350°F. Line 16 (2-1/2-inch) muffin pan cups with foil or paper liners.
2.Combine sugar, flour, cocoa, baking powder and salt in large bowl. Add oil, carrot, eggs, milk and vanilla; beat with electric mixer at low speed until blended. Increase speed to medium. Beat 2 minutes. Spoon into muffin cups, filling about 2/3 full. Bake about 15 minutes or until toothpick inserted into centers comes out clean. Cool completely on wire racks.
3.Frost cupcakes with chocolate frosting. Decorate with sprinkles, if desired.