Chocolate-Espresso Mascarpone Puddings

Whisk yolks and sugar in a large heatproof bowl until pale and creamy, about 1 minute. Set bowl over a pan of simmering water; whisk until an instant-read thermometer registers 160 degrees and mixture is thickened, about 3 minutes.

Remove from heat; whisk in cocoa, cheese, espresso, vanilla, and salt. Refrigerate in an airtight container until cold, 30 minutes (or up to 2 days).

Beat cream with an electric mixer until soft peaks form. Top each serving of pudding with whipped cream. Garnish with candied orange peel, if desired.