I just made coffee ice cream using the recipe from the Ben & Jerry’s book. I am very happy with the results – it reminds me of Stony Field Farm’s Decaf Coffee ice cream.
The recipe calls for freeze-dried coffee, but there is a sidebar about using cold-brewed coffee concentrate instead. You could probably make a concentrate using traditional hot brewing, but I think the cold-brew flavor is better for ice cream and iced drinks.
Here’s my recipe for coffee concentrate, adapted from here:
