There was a start for 2019 Golden Eaglets invitee goalkeeper Prince Adegoke, fullback Derrick Abu came off the bench for the final seventeen minutes and winger Tudor Mendel-Idowu was introduced in the 91st minute.
Chelsea, who have contested eight of the last ten finals, were the favourites heading into yesterday's clash having seen off Leyton Orient, Watford, Liverpool and Blackpool in the previous rounds.
In a cagey first half, Forest came closest to opening the scoring on a couple of occasions, with Jack Nadin curling wide before Dale Taylor's strike almost fell kindly to Esapa-Osong a couple of yards out but the ball was cleared away.
Just past the hour mark, the visitors opened the scoring through Charlie Webster whose deflected strike found the back of the net after a short corner played in.
But it was Forest who booked their place in the FA Youth Cup final courtesy of late goals from Dale Taylor and Esapa-Osong (2).
The Reds will face Maxi Oyedele's Manchester United in the final at Old Trafford.
Ifeanyi Emmanuel
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