Mix peanut butter and cream cheese until smooth.
Add sugar and milk, and mix well.
Soak Savoiardi (ladyfingers) in espresso.
Arrange the soaked Savoiardi on a plate.
Spread the peanut butter cream on top.
Repeat layers of ladyfingers and cream.
Dust with cocoa powder on top.
Chill in the refrigerator for at least 2 hours.