Brew the coffee or espresso and allow it to cool completely.
In a medium bowl, beat the softened mascarpone with the sweetened condensed milk, espresso powder, and vanilla until smooth and creamy. Add the coffee liqueur if using.
Pour the cold heavy whipping cream into a large mixing bowl. Beat until firm peaks form. Be careful not to over-whip the cream.
Gently fold about one-third of the whipped cream into the mascarpone mixture. Add the remaining whipped cream in two additions, folding carefully until the mixture is smooth and fluffy.
Pour the cooled coffee into a shallow bowl. Break the ladyfingers into smaller pieces and dip each piece briefly into the coffee. Do not oversoak them.
Spread half of the ice cream mixture into a freezer-safe loaf pan or container.
Add half of the coffee-soaked ladyfingers, followed by half of the chocolate chips or chopped chocolate. Lightly dust with cocoa powder.
Spread the remaining ice cream mixture over the first layer. Add the remaining ladyfingers and chocolate, then finish with another light dusting of cocoa powder.
Cover the container tightly with plastic wrap or an airtight lid
Freeze for at least 6 hours, preferably overnight, until firm.
Let the ice cream sit at room temperature for 5 to 10 minutes before scooping.
Serve with a light dusting of cocoa powder and grated chocolate, if desired.
