Sprinkle gelatine over milk in blender container; let stand 1 minute.
Add coffee; cover. Blend on low speed 2 minutes or until gelatine is completely dissolved. Add sugar, cocoa and vanilla; cover. Blend on high speed until well blended. Add ice cubes, 1 at a time, covering and blending on high speed after each addition until ice is melted. Pour evenly into 6 parfait glasses.
Refrigerate 2 hours or until set. Top with whipped topping just before serving.