In a small pot, add the heavy whipping cream. Heat over medium for 8-10 minues, or until the cream is warm and almost starting to bubble. Remove the pot from the heat and add the instant coffee granules. Stir to combine and dissolve them completely. Then pour the cream into a separate bowl and place in the freezer for 30-40 minutes, stirring every 15 minutes, until the cream is very cold.
When the cream is almost cold, throw your mixing bowl and whisk into the freezer as well.
When the cream is cold, add it to your cold mixing bowl and begin whisking it on medium high (speed 5-6) with the whisk attachment, for 8-9 minutes or until the cream reaches stiff peaks. Then add the vanilla. Mix to combine.
Use a spatula to transfer your whipped cream to a large bowl. Pour over the sweetened condensed milk and use your spatula to fold them together gently without knocking too much air out of the whipped cream.
Then add the chopped chocolate and waffle cone pieces. Fold them in with the spatula.
Grab a 9 inch round cake pan, or a loaf pan will work as well. Line it with parchment paper. Pour the ice cream into the prepared pan and use a spatula to even out the top of it. Sprinkle the top of the ice cream with more chocolate and waffle pieces.
Place the container in the freezer for 3-4 hours, or until solid and frozen. Serve in a waffle cone and enjoy!