In a saucepan, combine the heavy cream, milk, instant coffee, and sugar. Heat over medium heat, stirring until the sugar is completely dissolved, but do not boil.
In a separate bowl, whisk the egg yolks. Gradually whisk in a small amount of the warm cream mixture to temper the eggs (prevent curdling).
Pour the egg yolk mixture back into the saucepan. Cook over low heat, stirring constantly, until the custard thickens slightly and coats the back of a spoon.
Remove from the heat and stir in the vanilla extract. Let it cool completely to room temperature.
Pour the mixture into an ice cream maker and churn according to the manufacturer's instructions. If you don't have an ice cream maker, pour the mixture into a freezer-safe container and stir every hour during the freezing process to break up ice crystals.
Freeze for at least 4-5 hours, or until firm. Allow it to sit at room temperature for a few minutes before serving.
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