SPRINKLE gelatine over milk in blender container; let stand 1 min.
ADD coffee; blend on low speed 2 min. or until gelatine is completely dissolved. Add sugar, cocoa powder and vanilla; blend until smooth. Add ice cubes, 1 at a time, blending on high speed after each until ice is melted. Pour into 6 parfait glasses.
REFRIGERATE 2 hours or until firm. Top with COOL WHIP just before serving.