In a small bowl, combine ¼ cup of whole milk, 1 teaspoon of unflavored powdered gelatin, and 2 teaspoons of instant coffee. Stir well to dissolve, then let the mixture sit for 10 minutes to bloom.

In a saucepan, pour the remaining whole milk along with ¼ cup of granulated sugar and a pinch of salt. Over medium heat, gently warm the mixture until it steams but does not boil.

Once the milk mixture is steaming, remove it from the heat and stir in the bloomed gelatin mixture. Mix until smooth.

After cooling, strain the milk mixture through a fine mesh strainer over a large bowl.

Fold in half of the heavy cream into the strained mixture. Whip the remaining heavy cream to soft peaks and fold it into the coffee mixture with 1 teaspoon of vanilla extract.

Carefully divide the mixture into individual serving containers and chill for 3-4 hours until fully set.