In a medium saucepan, combine whole milk or half-and-half, heavy cream, half of the sugar, medium-ground coffee, and a pinch of kosher or sea salt. Heat this mixture over medium heat while stirring gently until it starts to steam, then cover and let it steep for 15 minutes.

While the coffee mixture steeps, whisk together the large egg yolks and the remaining sugar in a separate bowl until smooth.

Prepare an ice bath by filling a large bowl with ice and cold water. Sit a smaller bowl over the ice and pour the remaining heavy cream into it. Once your coffee mixture has steeped, strain it into this chilled bowl, discarding the coffee grounds.

Gradually pour the warm coffee mixture into the egg yolks, whisking constantly. Once fully combined, return the mixture to the saucepan and cook over medium heat, stirring continuously until thickened.

Strain the custard into the bowl with chilled heavy cream, mixing until well combined. Cover and refrigerate for at least 4 hours, or overnight.

Churn the custard in an ice cream maker according to the manufacturer’s instructions until it reaches a thick, soft-serve consistency.

Transfer the churned ice cream to an airtight container, layering it with drizzles of cajeta and chocolate as you go.

Seal the container and freeze for an additional 4 hours, or until firm. Let sit at room temperature for 10-15 minutes before serving.