Add your cream into the bowl of a stand mixer with the whisk attachment. Whip to a soft-medium peak. Do not overmix, I recommend finishing the mixing by hand.
Soak the gelatin in cold water (blooming). Let them absorb for 1-2 minutes.
Add the coconut milk, and half of the sugar into a small pot over medium heat. The sugar prevents the coconut milk from burning.
Add in the vanilla. Whisk the mix in the pot and bring it to a boil.
Add the egg yolks and the other half of the sugar into a separate bowl.
Whisk together until you reach a smooth texture and the sugar is dissolved.
Once your coconut milk mixture is boiling, temper your yolks with some of the milk by pouring ⅓ of the hot mixture into the yolks while whisking constantly. Pour everything back into the pot.
Cook everything while whisking constantly until it reaches 181ºF (83ºC). About 2-5 minutes or until the mix no longer drips from your whisk.
Add in your gelatin. If you're using gelatin sheets, squeeze out the excess water first.
OPTIONAL: Pour your mix into a separate bowl over ice to cool down the mix quickly to 20ºC-25ºC (Around 70ºC).
Add ⅓ of your whipped cream into your cooled coconut milk mix to make the mixture lighter. Whisk together.
Lightly fold in the rest of your whipped cream using a spatula. Set it aside for about an hour so the mousse can thicken. Once it becomes thick and fluffy it's ready to use. Don't let it completely set up before you pipe it into your cups.