Add milk, instant coffee, maple syrup and vanilla extract to the Ninja Creami pint container. Whisk vigorously or use a coffee frother or immersion blender to fully blend the ingredients.
Place the ice cream container in the freezer for 24 hours.
Remove the lid and place container into the Ninja Creami machine. Press the lite ice cream button and spin. After the first spin, the ice cream will still be crumbly, but don't worry! You have to keep spinning to get that velvety coffee ice cream texture.
Press the re-spin button two more times. The final produce should be smooth and creamy, not crumbly.
Serve with your favorite ice cream toppings!
Notes
If you like a more intense coffee flavor, add an additional 1 teaspoon of instant coffee.
Instant coffee does have caffeine, so be mindful of how much you're adding and use decaf if you're caffeine sensitive or making this coffee for nighttime snacking.