Pour the milk and sugar into a medium bowl and whisk until the sugar has dissolved. Stir in the cream and vanilla, cover and refrigerate for at least 2 hours, preferably overnight.
Whisk the mixture and pour into the ice cream maker bowl. Cover with the lid.
Set the timer for 40 to 50 minutes.
To produce a firmer ice cream churn in the ice cream maker for longer.
Serve 2 scoops of ice cream per person in a bowl.
Pour 1 shot of espresso coffee over the ice cream in each bowl.
Store any remaining ice cream in an airtight container in the freezer.
