Heat olive oil in a large pot over medium heat.
Sauté onions, garlic, and carrots until softened (about 5 minutes).
Add lentils, cumin, paprika, salt, and pepper. Stir well.
Pour in vegetable broth, bring to a boil, then reduce heat. Simmer for 35 minutes or until lentils are tender.
While soup simmers, whisk cornstarch into 1/2 cup almond milk until smooth.
In a saucepan, heat remaining almond milk, coffee granules, and sugar until hot but not boiling.
Slowly add cornstarch mixture, stirring constantly until thickened (about 5 minutes).
Remove from heat, stir in vanilla extract, and let cool slightly.
Serve lentil soup hot, followed by chilled coffee pudding for dessert.