This is an easy chocolate ice cream recipe that we've used in my family for years. It's a way to make ice cream without cooking the mixture (except a brief bit in the microwave) or using an ice cream freezer.
Combine coffee (or espresso) powder and hot water in small bowl. Let stand until coffee dissolves, about 5 minutes. Microwave chocolate, sweetened condensed milk, and coffee mixture in bowl, stirring every 10 seconds, until chocolate is melted, about 1 minute. Stir in vanilla and salt. Let cool.
With electric mixer on medium-high speed, whip cream to soft peaks, about 2 minutes. Whisk one-third of whipped cream into chocolate mixture. Fold remaining whipped cream into chocolate mixture until incorporated.
Freeze in airtight container, with plastic wrap directly on its surface, until firm, at least 6 hours or up to 2 weeks. Serve.