Prepare the ingredients. Measure out the milk, heavy cream, and instant coffee. Separate the egg yolks.
In a saucepan over medium heat, melt the sugar with the water until it turns into a golden brown caramel. Let the sugar melt on its own without stirring.
Once the caramel reaches the desired color, carefully add the butter and stir to combine. Slowly pour in the milk and heavy cream. Be careful, as the caramel may bubble up!
Add the instant coffee and stir until smooth. Heat until the caramel is completely dissolved.
In a bowl, whisk together the egg yolks with a pinch of salt. Slowly pour in a little of the warm caramel milk, whisking constantly. This step helps temper the eggs and prevent them from curdling.
Pour the entire mixture back into the saucepan and cook over low heat, stirring constantly, until it thickens. Do not let it boil!
Remove from the heat, add the vanilla extract, and let it cool completely. Then, refrigerate for at least 4 hours, or preferably overnight.
Pour the ice cream base into an ice cream maker and churn according to the manufacturer's instructions. If you don't have an ice cream maker, transfer it to a freezer-safe container and stir every hour until it reaches a creamy consistency.
Once churned, place in the freezer for another hour to firm up. Before serving, let it sit at room temperature for a few minutes to make it easier to scoop.
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