Them speaking to "Trump's Intentions", which is what is required in order to make him a criminal, is the exact definition of hearsay evidence.
That is not at all the definition of hearsay evidence. Hearsay evidence is a statement not made in court that would be used as evidence. For example, if prosecutors said 'I heard Michael Cohen say outside the courtroom that Trump made this payment to influence the election' that would be hearsay.
What we have here is by definition the literal opposite of hearsay - Michael Cohen's statement
in court and under oath that Trump directed him to make that payment for the purpose of influencing the election.
Unless Trump personally made the payment and made a statement of his intentions for making the payment (like in the memo of the check), or they have other evidence which proves the intention of the payment, he would not be guilty.
This is comically false.
1) Trump would not need to personally make the payment, it was made with his funds and at his direction. Open and shut.
2) Intent is a component of nearly every criminal offense that exists and so intent always needs to be established. As people almost never make a statement of their intentions for committing whatever act they took juries and judges rely on other evidence like say, the eyewitness testimony of other people involved in the events like we have in this case. In this case we have literally every other party to the transaction saying the intent was clear, including the person who conspired with Trump to make the illegal contribution.
What you seem to be arguing here is that Michael Cohen can't know Trump's true intentions and without some sort of confession by Trump we can't establish the requisite intent. That's not how criminal law works, at all.