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In a mixing bowl, combine the cold heavy whipping cream and mascarpone, and whip until smooth.
Gradually add the condensed milk and vanilla extract, mixing until well incorporated.
Stir in the cooled coffee or espresso until the mixture is uniform.
Pour the mixture into molds and freeze until solid.
Melt the finely chopped chocolate with the neutral or coconut oil in a heatproof bowl over simmering water or in the microwave, stirring until smooth.
Once the ice cream bars are frozen, dip them into the melted chocolate to coat evenly.
For an extra touch, sprinkle cacao nibs on top before the chocolate sets.