I know that at the restaurant it is a powdered mix, but I’m hoping to find a recipe that tastes similar that I can make at home to 1) save money, and 2) save calories. Thanks!
Because it doesn’t look like it’s going to let me choose no best answer, I’ll just comment here. I asked for a French Vanilla Cap recipe, not the iced one, and if I make it at home, I can reduce calories by substituting no calorie sweetener (Splenda) for the sugar.

http://www.recipezaar.com/iced-cappacino-361851
there is no way to make french vanilla cappuccino and save calories. Most grocery stores have the powder.