Never done it...get an espresso maker, w/o the pressure you'll never really get close IMO.
this. espresso is extraction through pressure as much as steep or temperature, and you will NEVER duplicate it. that is not to say you cannot get a denser and richer cup without the equipment. that is why the press is so beloved; rich mouthfeel, total controll almost of the extraction, low point of entry cost, and ease of use.
if you need to go pimp on a budget on this, look up the aeropress. it is NOT espresso, despite what they say, but it will provide a denser cup. which is good. and they are very small, easy to use, and realistically cheap for the quality of the device.
EDIT: also, the thing is the size of a travel mug. as someone with a teeny tiny kitchen, this helps hugely!