- Add instant coffee and sugar to a cup, mix, then add water , mix till well combined. Whip coffee mix till stiff peaks form. Add vanilla extract and salt to condensed milk and mix, then gently mix in the dalgona Coffee. Cover with cling film and set aside. Whip heavy cream till medium to stiff peaks form. Fold in the dalgona coffee and condensed milk mix into the whipped heavy cream till well incorporated. Pour into an ice cream bowl, cover with cling wrap and freeze for up to 6 hrs. Serve chilled.