In a large mixing bowl, pour in the heavy cream. Using an electric mixer or a whisk, beat the cream until it reaches soft peaks. Soft peaks are when the cream holds its shape but still flop when beaters are lifted. Add the sweetened condensed milk, instant coffee granules (or espresso powder), vanilla extract, and a pinch of salt. Mix well until the coffee granules are dissolved and the mixture is smooth.
f you are looking for a rich coffee flavor, you can add more coffee. If you want chocolate chip coffee ice cream, fold in 1/2 cup of chocolate chips. For a crunchy factor, add your choice of nuts, such as almonds, walnuts, or hazelnuts.
Once everything is well incorporated, transfer the mixture into a lidded container suitable for freezing. Smooth the top with a spatula. When the ice cream reaches the desired firmness, usually after about 6 hours of freezing, it's ready to be enjoyed! Freeze for 4 hours for a soft-serve consistency.