Making the ice cream is a breeze! Just whisk together the condensed milk, heavy cream, instant coffee powder, and vanilla extract until it’s thick and forms soft peaks.
Using an ice cream scoop or spoon, drop dollops of the ice cream mixture onto a parchment-lined baking tray. Aim for golf ball-sized portions. Repeat until you have 8 small balls, then freeze them until firm.
Now, let’s tackle the dough. Mix the glutinous rice flour and sugar in a bowl. In a saucepan, bring 1/2 cup of water to a boil. Add the dry ingredients to the boiling water, stirring until it forms a runny mixture.
Keep stirring over medium heat until it becomes slightly translucent, sticky, and a bit firm. Don’t worry about lumps; they’ll smooth out. Transfer the mochi to a cornstarch-covered worktop when it’s cool enough to handle.
Divide the mochi into 8 pieces and flatten each with your hand. Wrap the mochi around a ball of ice cream, pinching it closed with your fingers to create a ball shape.
Roll each mochi-covered ice cream ball in cocoa powder, then freeze until firm. Enjoy your delicious mochi ice cream treats!