In a saucepan, combine the heavy cream, whole milk, and granulated sugar over medium heat. Stir until the sugar is dissolved and the mixture is warm, but not boiling.

Add the instant coffee granules, vanilla extract, and salt to the mixture. Whisk until fully combined and the coffee is dissolved.

Remove from heat and let the mixture cool to room temperature.

Once cooled, transfer the mixture to a mixing bowl and refrigerate for at least 2 hours or until completely chilled.

Pour the chilled mixture into an ice cream maker and churn according to the manufacturer's instructions until it reaches a soft-serve consistency.

Transfer the churned ice cream to an airtight container and freeze for at least 4 hours or until firm.

Scoop and serve the coffee ice cream as desired.