Combine sugar, cocoa, cornstarch, cinnamon and salt in large saucepan. Gradually stir in 1 cup milk until cornstarch is dissolved. Beat in egg yolks, remaining milk and espresso.
Bring to boiling, stirring; boil for 30 seconds until thickened enough to mound slightly when dropped from a spoon. Remove from heat. Stir in brandy, if desired, and vanilla. Cover surface with plastic wrap. Refrigerate several hours until chilled and set. Serve with whipped cream, if desired. Makes 6 servings.