Pour milk into small bowl, sprinkle gelatin over the top, set aside for 2-5 minutes.
Place a medium saucepan over medium heat, stir in cream, sugar, and vanilla. Bring to a low boil. Add chocolate and whisk until melted. Whisk the gelatin mixture into chocolate mixture until gelatin has dissolved.
Transfer to nice glasses for serving. (I used martini glasses.) Chill for 2-3 hours before adding Coffee Gelée .
In a small bowl, sprinkle gelatin over 2 T. cold water. Set aside for about 2 minutes.
In a small saucepan over medium heat, combine sugar and 1/4 cup hot water. Bring to a boil, stirring until sugar dissolves. Remove from heat. Add coffee and vanilla. Add gelatin mixture and stir until gelatin dissolves. Let mixture cool until it reaches room temperature.
Remove Chocolate Panna Cotta from refrigerator after it has chilled for at least two hours or until top is set. Pour room temperature Coffee Gelée over the top.
Return to the refrigerator for 4-6 hours. Garnish with whipped cream before serving.