David Lebovitz is my new favorite person. This coffee ice cream from The Perfect Scoop was super-simple and absolutely delicious.
Brew coffee with 1/2 cup of grounds and 1 1/2 cups of water. This should yield about a cup. Whisk the coffee together with a can (~400g) of sweetened condensed milk, and 1/3 cup of whole milk. I used skim milk mixed with half & half, because that's what I had. Chill thoroughly in the freezer, then chuck it in your ice cream maker. While it's churning, add a large pinch of coffee grounds. When done, scoop into containers and freeze. It won't freeze as hard as regular ice cream, and it melts really fast. I think it's because of the sweetened condensed milk, but I'm a chemist, not a food scientist, so what do I know?
Make this. You'll love it. Unless you don't like coffee, in which case, I can't help you.