Brew the espresso and let it cool for 1–2 minutes.
Fill a cocktail shaker halfway with ice.
Add vodka, coffee liqueur, and Irish cream liqueur (if using) to the shaker.
Shake for about 15 seconds until well-chilled.
Place a scoop of vanilla ice cream into a chilled martini glass.
Strain the shaken mixture over the ice cream.
Gently pour the warm espresso over the top for the affogato effect.
Garnish with a drizzle of salted caramel, a couple of coffee beans, or chocolate shavings, if desired. Serve immediately.