In a large bowl, set a fine-meshed strainer over and cover with a cheesecloth or coffee filter. Set aside.

In a medium pot, combine evaporated milk, sweetened condensed milk, heavy cream, ground coffee, vanilla bean paste and salt. Cook over medium heat until the mixture begins to steam and there are tiny bubbles appear around the edge. Remove from heat and let steep for 5 – 6 minutes.

Pour the mixture into the prepared cheesecloth. Stain and squeeze out all the liquid. Let cool at room temperature for 1 hour. Transfer into an airtight container. Cool in the fridge for at least 6 hours.

Pour the cold mixture into the ice cream machine and follow the machine instruction. Once the ice cream is ready, transfer the ice cream to an airtight container. Press a sheet of parchment paper directly against the surface of the ice cream. Close with a lid. Freeze until firm, at least 4 hours. Scoop and serve.