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Heat oven to 350°F (325°F for dark or nonstick pans). Place paper baking cup in each of 24 regular-size muffin cups.
Make batter as directed on box; gently stir in 1 tablespoon espresso powder just until blended. Divide batter evenly among muffin cups. Bake and cool as directed on box for cupcakes.
In medium bowl, beat mascarpone cheese, milk, 2 teaspoons espresso powder and the powdered sugar with electric mixer on medium speed until smooth. Spoon mixture into decorating bag fitted with 1/4-inch (#writing tip.
To fill each cupcake, insert tip of bag into center of cooled cupcake; gently squeeze bag until cupcake expands slightly but does not burst (each cupcake should be filled with about 1 tablespoon filling).
Stir 1 teaspoon espresso powder into the frosting. Spoon frosting mixture into decorating bag fitted with 3/4-inch (#star tip. Pipe over tops of cupcakes. Garnish with espresso beans. Store covered in refrigerator.