Place the bowl of your ice cream maker in the freezer 24 hours prior to making ice cream.
Two hours prior to making ice cream, mix the milk, cream, sugar and coffee together in a jar. Shake well to combine. Return to the fridge for at least two hours.
Prepare ice cream maker according to instructions. For a Cuisinart ice cream maker, turn it on first and then slowly add the cream mixture. Let it mix for 15-20 minutes, then transfer to a freezer-safe container. Freeze at least two more hours prior to serving.