Brew the espresso and let it cool to room temperature.
In a blender, combine almond milk, cooled espresso, protein powder, cocoa powder, maple syrup or honey, vanilla extract, and salt.
Blend until smooth, ensuring all ingredients are well incorporated.
If using mascarpone, add it to the mixture and blend briefly until just combined.
Pour the mixture into a freezer-safe container, smoothing the top with a spatula.
Freeze for at least 4 hours or until the ice cream is firm enough to scoop.
Scoop, serve, and enjoy your heavenly tiramisu protein ice cream!