Pour 1/3 cup almond milk into a small bowl and stir in gelatin; set aside.
In a medium saucepan, stir together heavy cream, remaining almond milk, and sugar. Bring to boil over medium heat, watching carefully as the cream will quickly rise to the top of the pan.
Pour gelatin and almond milk into cream mixture and stir until gelatin is completely dissolved. Add 1/2 teaspoon almond extract and vanilla extract and cook for 1 minute, stirring constantly. Remove from heat and pour into 6 (4-ounce) individual ramekins.
Leave ramekins uncovered at room temperature to cool. When cool, cover with plastic wrap and refrigerate for at least 4 hours (can be left overnight.)
To remove, run a knife around the sides of each ramekin and invert over a serving plate.
In a small bowl, combine 1/4 cup chocolate fudge syrup with 1/4 teaspoon almond extract. Drizzle over the top of the panna cottas to decorate top, as desired.
TIP: If panna cotta do not drop freely from ramekins, carefully dip the bottom of the ramekin in hot water. Be careful not to get water in the ramekin.