1. In a small saucepan, combine half-and-half and sweetened condensed milk. Bring to a gentle simmer over medium heat; do not boil. Whisk in cocoa powder, espresso powder, cinnamon and cayenne pepper. Remove from heat; cool completely. Strain mixture through a fine-mesh sieve set over a medium bowl.
2. Pour cooled mixture into 10 (3-ounce) pop molds. Cover with lid.* Insert craft sticks. Freeze for 4 hours or until firm.
3. To unmold paletas, dip molds into cool water until paletas loosen from molds. Gently remove frozen paletas from molds and transfer to a baking sheet lined with parchment paper. Freeze at least 10 minutes or lightly cover with plastic wrap and store in freezer until ready to serve.
4. To serve, spread marshmallow crème onto paletas, if desired. Using a kitchen torch, toast marshmallow crème until golden brown, if desired.

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*If pop molds have individual lids with attached sticks, cover molds with foil. Cut small slits in foil and insert craft sticks into each pop.