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Whisk together the heavy cream, sweetened condensed milk, and vanilla extract until smooth. Place in the refrigerator until ready to use.
In a small saucepan set over medium-low heat, whisk together the chocolate syrup, water, vanilla extract, and almond extract until smooth. This simple syrup recipe will come together so quickly, as there is no sugar that needs to be dissolved!
Remove from heat and set aside until ready to use.
Add 1 – 2 tablespoons of the Irish cream syrup to a tall glass filled with ice. Top with the cold brew coffee and water, if using, and stir to combine.
In a a small blender (or with a whisk) pulse ¼ - ½ cup of the sweet cream for 5 seconds, or until fluffy and thick. Voila! Sweet cream cold foam!
Top the iced coffee with the sweet cream cold foam and sprinkle with a dusting of cocoa powder before serving.