In a mixing bowl, combine the cooled Vietnamese coffee and sweetened condensed milk. Stir until well blended.
In another bowl, whisk together the heavy cream, whole milk, vanilla extract, and a pinch of salt until it is slightly thickened but not whipped.
Gradually pour the coffee mixture into the cream mixture, whisking continuously until everything is smooth and fully combined.
Taste and adjust sweetness if desired by adding more sweetened condensed milk.
Pour the mixture into an ice cream maker and churn according to the manufacturer’s instructions, usually about 20-25 minutes, or 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.
For a smoother texture, let the ice cream sit at room temperature for a few minutes before scooping and serving.
Notes
For a smoother texture, let the ice cream sit at room temperature for a few minutes before scooping.