In a small bowl or jar, combine coffee grounds and water. Stir to moisten then cover and let stand at room temperature for 6-8 hours, or overnight. Strain through a coffee filter, discarding grounds and reserving coffee.
To make ice cream, combine, whipping cream, sweetened condensed milk, vanilla and reserved coffee in a large bowl or the bowl of a stand mixer fitted with a whisk attachment. Whisk at high speed until firm peaks are formed.
Pour in to a loaf pan or other container, cover and freeze for at least 4 hours.
Notes
Be sure to read the "Cook's Notes" in the original post, for more tips, options, substitutions and variations for this recipe!