In a medium pot heat the coffee, milk and sugar stirring until sugar dissolves. Place in a bowl and refrigerate until cold.
In a mixing bowl add the mascarpone, cream and cold coffee mixture, beat until smooth and thickened and soft peaks form. If using an ice cream maker then add the mixture into the machine, when it's almost done (time depends on the ice cream maker directions) add the cubed lady fingers, continue with the machine until Gelato reaches desired thickness. Serve immediately dusted with cocoa if desired. Or freeze until firmer. Enjoy!
If making no-churn ice cream, then fold in the lady finger cubes into the soft peak creamed mixture and spoon into an air tight freezer container and freeze for at least 3-5 hours or until firm. Serve dusted with cocoa. Enjoy.