In a medium saucepan over medium heat, combine the heavy cream, whole milk, sugar, and instant coffee granules.
Stir continuously until the sugar and coffee granules have fully dissolved, then remove from heat.
Stir in the vanilla extract, then let the mixture cool to room temperature.
Once cooled, transfer to the refrigerator and chill for at least 2 hours.
Pour the chilled mixture into an ice cream maker and process according to the manufacturer's instructions.
Transfer to a container and freeze for at least 2 hours before serving.