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In a small bowl, sprinkle gelatin over 1/4 cup of the milk. Let stand for 5 minutes. Meanwhile, in a medium saucepan, whisk together egg yolks and sugar. Gradually whisk in remaining 1 3/4 cups milk. Cook and stir over medium heat until just boiling. Remove from heat. Gradually whisk about 1/2 cup of the hot milk mixture into the gelatin mixture. Whisk gelatin mixture into remaining milk mixture in saucepan. Place saucepan in a large bowl of ice water. Stir in vanilla. Stir for a few minutes to cool the custard mixture. Transfer 1/2 cup of the custard mixture to a small bowl; stir in espresso powder until dissolved. Cover and set espresso mixture aside.
Pour the remaining custard mixture into four 6-ounce individual dishes, custard cups or glasses. Cover dishes; chill for 15 to 20 minutes. Drizzle the espresso mixture over the custard mixture in dishes. Using a thin metal spatula, lightly swirl the espresso mixture into the top of the custard. Cover dishes loosely and chill for at least 4 hours or until set. If desired, top with a little whipped dessert topping and sprinkle with cinnamon.