Using a hand mixer or stand mixer with the whisk attachment, whip the heavy cream until stiff peaks form. Set aside.
In a large bowl, whisk sweetened condensed milk, espresso powder, and vanilla. Add half the whipped cream and fold until combined. Add the remaining whipped cream and fold until combined.
Scoop the ice cream mixture into a freezer safe container (I use a loaf pan) and smooth the top. Tightly cover and freeze until frozen, at least 6 hours, ideally overnight.
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