In medium bowl use mixer or whisk to combine milk, sugar and salt until sugar is dissolved, next add freeze dried coffee mixed with just enough milk until it dissolves then add to milk and sugar mixture, next add heavy whipping cream and cinnamon and mix thoroughly. You might have a few specks of undissolved coffee but dont worry they will finish dissolving while the mixture chills.
Cover container and put in refrigerator for at least 2 hours, the longer the better or if you are inpatient like me I put mine in the freezer until tiny ice particles just start forming.
Remove from refrigerator stir a few times and pour into your favorite ice cream maker (I use the 1-1/2 quart Cuisinart ice cream maker) and let it work until desired consistency about 15-20 minutes then put in your desired container for freezer storage. This is a soft ice cream but it will stiffen up in the freezer.
You can add chocolate flakes, almonds, toffee or numerous other additions for extra kick or a little crunch.