In a small saucepan heat the milk with the ice cream over medium heat whisking as it heats, until the mixture simmers and becomes foamy. (Alternatively, microwave the milk mixture until it is hot and then whisk until it is foamy; or if you have an espresso maker that froths milk, you can use it to simultaneously froth the milk and melt the ice cream in a medium pitcher.)
Divide the hot espresso among four cups and pour some of the frothed milk mixture over each one. Serve immediately.
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