01 - Combine whole milk, heavy cream, half the sugar, and salt in a medium saucepan. Heat over medium heat until steaming, avoiding boiling.
02 - In a separate bowl, whisk egg yolks with remaining sugar until pale and thickened.
03 - Gradually pour 1 cup of hot milk mixture into yolks while whisking constantly to prevent curdling.
04 - Return yolk mixture to saucepan. Cook over medium-low heat, stirring continuously with a wooden spoon until custard thickens and coats the spoon back, reaching 170–175°F (about 4–6 minutes).
05 - Remove from heat. Stir in brewed coffee, espresso powder, and sweetened condensed milk until fully blended.
06 - Pour custard through fine-mesh sieve into clean bowl. Cool to room temperature, then cover and refrigerate until thoroughly chilled, at least 4 hours or preferably overnight.
07 - Process chilled custard in ice cream maker according to manufacturer instructions until soft-serve consistency forms.
08 - Transfer to airtight container and freeze for minimum 2 hours before serving to achieve firmer texture.