I have two close ESFPs in my life: my mother and my best friend. Between the two of them I am constantly receiving things. They give things so often that even though I have tried to steer both of them toward giving me things that would be meaningful to me (trying to get them to stop giving is useless), they inevitably give a lot that isn't personally meaningful. I really have to remember with them that it is the thought that counts, and I think if you're looking for something for an INFP you can be reasonably sure that they will remember that. We're more apt to be focused on what the gift (and giving it) means to you.
ESFP like to give things I need but don't buy for myself (shoes, makeup, a can of Raid). The ES/IN divide can be a hard one to cross so I really don't expect them to remember and understand what is personally meaningful to me. The danger in giving practical things is the ESFP must remember that it is something that would be useful to me, and not something that struck their fancy. So if you're going for shoes or clothes you really have to know my personal taste. Since I barely know my personal taste and only know what I definitely don't like (usually after I've seen it), this can be difficult to accomplish. And since I don't want to hurt their feelings they are apt to keep giving me this stuff.
Something heartfelt like a letter is really great. I tend to keep letters for years and years and I definitely re-read them. The ESFPs in my life like to tell how they feel about people although they don't consider themselves to be good writers. That's okay, I just like to remember that I was loved at that moment in time, and I like to feel the bond all over again. (if I ever befriend an ESFP who is a songwriter and they write a song about me I could die happy, I'm serious)
Something to write in is good, like a journal, diary, or notepad. Music is good since I'll usually give anything a listen at least once and I am always looking for something new to get into. If the INFP in your life likes to cook, then a cookbook especially with built-in variety (like foods from different countries, that sort of thing). I don't promise to do more than read them and imagine the dishes I could make, but I'd like the gift.