In 1-quart saucepan, mix 2 tablespoons soymilk, the coffee powder and chocolate. Cook over medium heat, stirring constantly, until chocolate is completely melted and mixture is well blended. Cool slightly.
In medium bowl, beat 1 cup soymilk and the pudding mix with electric mixer on medium speed or wire whisk 1 to 2 minutes or until mixture is well blended and thickened.
Stir melted chocolate mixture into pudding mixture. Fold in whipped topping. Divide evenly among 6 dessert dishes; serve or refrigerate. Cover and refrigerate any remaining mousse. Garnish with chocolate-covered coffee beans.