In a medium saucepan, combine whole milk, heavy cream, sugar, and a pinch of salt over medium heat. Stir gently until warm and sugar has dissolved without boiling.

In a separate bowl, dissolve instant espresso powder in strong brewed coffee, stirring until mixed. Slowly pour into warm milk mixture while whisking.

In another bowl, whisk egg yolks until smooth and pale, about 2-3 minutes.

Gradually add warm milk mixture to egg yolks while continuously whisking to avoid curdling.

Return the mixture to the saucepan and stir constantly over medium heat for 8-10 minutes until custard thickens.

Remove from heat and strain through a fine-mesh sieve into a bowl. Stir in the vanilla extract.

Cover the custard with plastic wrap and refrigerate for at least 4 hours or overnight.

Pour chilled custard into an ice cream maker and churn according to instructions until thick and creamy.

Transfer gelato to an airtight container and freeze for at least 4 hours until firm.