Heat the whole milk on medium-low in a large saucepan until it becomes hot, but is not yet simmering. Add the coffee grounds and turn the heat to low and allow the coffee to steep in the milk for about 5 minutes, stirring occasionally. Turn off the heat, and allow the coffee to steep for an additional 10 minutes.
Strain the mixture through a cheesecloth, getting as much of the milk from the coffee as possible.
Return the milk to the saucepan and turn the heat to medium. Stir in the sugar and the skim milk powder and mix until the milk powder is completely dissolved. Stir in the cream. Stir the mixture frequently for about 10 minutes (being sure to scrape the bottom of the pan to prevent burning), or until the mixture just beings to bubble around the edges and turn off the heat.
In a small bowl, beat the yolks, then slowly add two cups of the milk mixture to the yolks while constantly whisking the yolks. Once the mixture is completely incorporated, Pour the yolk mixture slowly into the saucepan while constantly whisking the saucepan. Put the heat back on medium. Constantly whisk the mixture until it becomes thickened. It should become visibility noticeable that the mixture has thickened, but to be sure, you can run your finger down the back of a wooden spoon that's been coated with the mixture. If the line remains, then the mixture is thick enough.
Remove from heat and put the custard in an ice bath for about 20 minutes, then transfer to a large ziplock bag and chill in the refrigerator until it reaches 40 degrees F (about 3 hours, but preferably overnight). Note: to cut down on time, you can carefully transfer the custard directly into the ziplock bag and put the bag in the ice bath.
Churn the custard in an ice cream maker according to manufacturer instructions. Begin to pour your ice cream into your air tight container, stopping to add layers of crushed Oreos every so often. I like a lot of Oreo in my coffee ice cream, so you may reduce the amount of Oreo you use.
Freeze for about 3 - 4 hours, or until the ice cream is solidified and scoopable.
Notes
*I used whole coffee beans that I ground in a food processor. The coarse, freshly ground coffee releases the freshest and most distinct flavor. If you are serving this to children, you may opt for a decaffeinated coffee as this ice cream has a considerable amount of caffeine per scoop. Recipe adapted from Ample Hills
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