Coat an 8-inch square baking pan with cooking spray.
Prepare brownies according to package directions using yogurt. Spoon batter into prepared pan. Bake at 350° for 32 to 36 minutes or until done. Cool in pan 15 minutes on a wire rack.
Using a wooden pick, poke holes in top of brownies. Drizzle syrup over brownies. Cool completely.
Spread ice cream over brownies. Freeze at least 1 hour or until firm. Spread whipped topping over ice cream. Return to freezer for 15 minutes or until set. If desired, garnish with chocolate-covered espresso beans.