Line a loaf pan with parchment paper and chill your mixing bowl and beaters before starting the recipe for better whipped cream texture.
Whisk egg yolks, sugar, honey, and salt over simmering water for 6 to 8 minutes until pale and thick, then stir in vanilla and espresso mixture.
Whip cold heavy cream to medium peaks and fold in softened mascarpone cheese until smooth and fluffy.
Fold the cooled egg mixture into the whipped cream mixture carefully, then add toasted almonds and chopped dark chocolate.
Transfer the mixture to the prepared pan, smooth the top, cover tightly, and freeze for at least 6 hours or overnight.
Let the semifreddo sit at room temperature for a few minutes before slicing and serving with berries and cocoa powder.