Line a large (9x5x3-inch loaf pan) with plastic wrap, allowing it to hang over the edges of the pan.
In a shallow dish, combine the warm espresso with the sugar, whisking until the sugar has dissolved. Carefully dip a ladyfinger into the espresso, quickly coating both sides and then place in a single layer on the bottom of the prepared pan. Line them up snuggly, you should fit about 8 in a row. Set aside.
In a medium bowl, stir together the softened coffee ice cream with the coffee liqueur until smooth. Spoon ice cream mixture over the ladyfinger layer in the pan, spreading evenly. Carefully dip a lady finger into the espresso, quickly coating both sides and then place in a single layer on top of the coffee ice cream layer. Place loaf pan in the freezer to chill slightly.
In a separate bowl, beat mascarpone cheese on medium speed for about 30 seconds or until smooth. Use a wooden spoon to stir in the softened vanilla ice cream. Remove loaf pan from the freezer and top with the mascarpone vanilla ice cream mixture, spreading out to an even layer. Carefully dip a ladyfinger into the espresso, quickly coating both sides and then place in a single layer on top of the vanilla ice cream layer. Place loaf pan in the freezer to chill slightly.
In a medium bowl, stir together the chocolate ice cream, whipping cream and vanilla extract until smooth. Remove the loaf pan from the freezer and spread out the chocolate ice cream mixture on top of the ladyfinger layer. Repeat with the final layer of ladyfingers, dipping and placing on top in a single layer. Cover with plastic wrap and freeze for at least 4 hours or overnight.
Let semifreddo stand at room temperature for 10 minutes before serving. Carefully invert onto a platter and remove the loaf pan. Peel away the plastic wrap and then dust the top with cocoa powder. Slice and serve. Enjoy!