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Gather the ingredients.
Add the instant coffee, sugar and hot or boiling water to large liquid measuring cup. Whip with an electric hand mixer or immersion blender for about 5 to 7 minutes or until the mixture is completely fluffy and has lightened in color. We used one beater on the hand mixer so it would fit into the measuring cup well. Whisk in the vanilla at the end if you are adding.
Divide the milk amongst two glasses and top with ice.
Split the whipped coffee over the top of each glass and serve immediately.