In a mixing bowl, whisk together the heavy cream, whole milk, sugar, vanilla extract, and instant coffee granules until well combined.

Pour the mixture into a saucepan and heat over medium heat until it starts to steam, but do not boil.

Remove from heat and let it cool completely.

Once cooled, pour the mixture into an ice cream maker and churn according to the manufacturer's instructions.

During the last few minutes of churning, slowly add the cooled espresso.

Transfer the churned ice cream to a container, layering it with caramel sauce to create swirls.

Cover and freeze for at least 2 hours or until firm.