In a large mixing bowl, combine the strained Greek yogurt, light mascarpone cheese, maple syrup, and vanilla extract. Whisk vigorously until the mixture is smooth, airy, and well-incorporated.

Pour the cooled espresso into a shallow wide-bottomed bowl.

Briefly dip each gluten-free ladyfinger into the espresso, ensuring they are moistened but not saturated to prevent sogginess.

Arrange a single layer of dipped ladyfingers in the bottom of an 8x8-inch glass dish or similar serving container.

Spread half of the yogurt-mascarpone cream mixture evenly over the first layer of ladyfingers using an offset spatula.

Repeat the process by adding a second layer of espresso-dipped ladyfingers, followed by the remaining cream mixture. Smooth the top surface.

Cover the dish tightly with plastic wrap and refrigerate for a minimum of 5 hours, ideally overnight, to allow the structure to set and flavors to meld.

Just before serving, use a fine-mesh sieve to dust the top generously with cocoa powder and garnish with the shaved dark chocolate.