In a medium saucepan, mix together milk, raw cane sugar, gelatin powder, espresso powder, vanilla extract, and salt. Stir gently with a whisk until combined.

Place the saucepan over medium heat, stirring continuously until the mixture simmers, about 4-5 minutes.

Remove from heat and let the mixture cool for about 2-3 minutes.

In a mixing bowl, add Greek yogurt and slowly pour in the cooled coffee mixture while whisking until smooth and creamy.

Carefully divide the mixture into serving glasses, filling them three-quarters full.

Cover with plastic wrap and refrigerate for 3-4 hours until set.

Once set, garnish with cacao powder or shaved chocolate before serving.