Pour milk into a small glass jar, then add instant coffee granules. The milk does not need to be warm in order for the coffee to dissolve, but you do need to let it set for 5 minutes. After 5 minutes, whisk to finish dissolving coffee granules into the milk.
To the coffee milk, add the yogurt, protein powder, and the vanilla extract or cocoa powder. Whisk until smoothly combined. Add chia seeds and stir again until chia seeds are evenly distributed.
Refrigerate for 2 hours, or until chia pudding has thickened and set.