01 - Combine whole milk, heavy cream, half the sugar, and salt in a medium saucepan. Heat over medium heat until steaming, avoiding boil.
02 - Beat egg yolks with remaining sugar in a separate bowl until mixture appears pale and thickened.
03 - Gradually stream 1 cup hot milk into yolks while whisking continuously to prevent curdling.
04 - Return mixture to saucepan. Cook over medium-low heat, stirring constantly with wooden spoon until custard coats spoon back (170–175°F), approximately 4–6 minutes.
05 - Remove from heat. Stir in brewed coffee, espresso powder, and sweetened condensed milk until completely incorporated.
06 - Pour custard through fine-mesh sieve into clean bowl. Cool to room temperature, then refrigerate covered for minimum 4 hours, preferably overnight.
07 - Process chilled custard in ice cream maker following manufacturer's guidelines.
08 - Transfer churned ice cream to airtight container. Freeze for at least 2 hours before serving to achieve firm consistency.