Preheat oven to 375°F. Coat a 7-by-11-inch baking dish with cooking spray.
Whisk milk, eggs, maple syrup, coconut oil, espresso powder, vanilla, baking powder and salt together in a large bowl until smooth. Fold in oats. Pour into the prepared baking dish.
Bake until golden brown and set, 20 to 25 minutes. Let cool for at least 30 minutes or up to 2 hours. Cover with plastic wrap and refrigerate until ready to eat.
While the oats bake, prepare topping: Whisk yogurt, cream cheese and maple syrup together in a medium bowl until smooth. Cover with plastic wrap and refrigerate until ready to use.
To serve, spread topping over oats. Dust with cocoa. Serve at room temperature or chilled.
