3/4 cup sweetened condensed milk
1 1/2 tablespoons instant coffee granules
dissolved in 1 tablespoon boiling water
1/2 teaspoon vanilla extract
1 1/4 cups whipping or heavy cream
Put sweetened condensed milk and dissolved coffee in a bowl over a pan of gently simmering water. Cook for 15 minutes, stirring occasionally, until slightly thickened. Remove from heat; stir in vanilla extract and let cool before chilling in the refrigerator.
Whip cream until soft peaks form, then fold into the coffee mixture. Pour the mixture into a container. Cover and freeze until firm, beating well after 1 1/2 hours.
About 15 minutes before serving, transfer the ice cream to the refrigerator. Good served with Hot Fudge Sauce or Burnt Honey Sauce.