Step 1

In a small bowl, whisk together the espresso powder and hot water until the powder has dissolved. Set aside to cool.

Step 2

In a medium bowl, combine the sweetened condensed milk and vanilla extract. Set aside.

Step 3

In the bowl of a stand mixer fitted with the whisk attachment, or with a handheld mixer, pour in the heavy whipping cream and cooled espresso powder. Beat on medium-high speed until stiff peaks form (about 3-5 minutes)

Step 4

Gently fold in the sweetened condensed milk and vanilla mixture until combined. Do not stir too much or you will deflate the whipped cream.

Step 5

Transfer to a 2-quart container or a loaf pan.

Step 6

Using a spoon, drizzle caramel sauce over the ice cream and then swirl the caramel throughout using a knife. Top with your favorite chopped dark chocolate if desired.

Step 7

Cover and freeze for 5 hours or overnight.