Prepare the coffee without any sweetener and allowing it to fully cool.
Remove the mascarpone cheese from refrigeration and leave it at room temperature for approximately 30 minutes.
Dip the Savoiardi cookies in the coffee for one second per side. Arrange the soaked cookies on a tray and let them dry until preparing the cream.
Add the mascarpone cheese to a large bowl and whip it with an electric mixer at maximum speed until light and fluffy.
Continuing to whip, slowly incorporate the condensed milk. Whip the mixture for 1 to 2 additional minutes to create the eggless mascarpone cream.
To assemble, take an 18×23 cm (7×9 inches) baking dish or six glass cups. For the baking dish, arrange a layer of soaked cookies on the bottom. Spread half the mascarpone cream evenly over the cookies. Top with another layer of soaked cookies and cover with the remaining cream. Level the surface.
For individual servings, place soaked cookies in each cup and top with a layer of mascarpone cream twice the height of the cookies. Repeat layering cookies and cream until topped off. The final layer should be cream.
Cover and refrigerate for at least 2 hours.
Just before serving, dust the surface with powdered cocoa through a strainer.