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Best Vanilla Coffee with homemade Vanilla Milk

5 from 23 votes

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If you love the vanilla coffee from your local cafe, then you need to try this delicious diy-rendition! This easy recipe makes the Best Vanilla Coffee you have ever had, and you don’t even have to leave the house!

It’s the simple things in life that are worth savoring, like your favorite cafe’s vanilla coffee, but why only enjoy it at the cafe? With this amazingly easy recipe, you can make the best vanilla coffee at home whenever you want!

Ingredients you need

  • Strong Coffee: The heart of this delicious drink is freshly brewed coffee. You can use your favorite beans to bring the bold coffee taste to this recipe. Choose a blend with rich-tasting notes that pair well with vanilla, including notes of cocoa, wood, and spice.
  • Homemade Vanilla Milk: Vanilla milk is my go-to for creamy sweetness in coffee and beyond. Try my easy almond vanilla milk recipe for the best vanilla iced coffee – you’ll be hooked!

How To Make Iced Vanilla Coffee From Scratch

Step One: Prepare or warm up the homemade vanilla milk.

Step Two: Brew fresh coffee.

Step Three: Pour the coffee and then the milk into the serving glass. Optionally, top with milk foam and enjoy!

Pour coffee into the serving glass.
Add vanilla milk.
Almond vanilla milk
Froth the vanilla milk using a milk frother.
Froth the remaining vanilla milk
Top with frothed vanilla milk.
Top with frothed vanilla milk.
Gorgeous coffee glass, filled with delicious vanilla coffee.

Barista Tips

If you are frothing the vanilla milk, the ideal temperature for frothing is 131°F to 149°F.

You can make the vanilla milk up to 3 days in advance and warm it up for this coffee recipe.


  • Saucepan: Use a saucepan or microwave-safe mug to warm up the vanilla milk.
  • Coffee Brewer: Use your favorite brewing tools to prepare fresh coffee for this recipe. I love to make a French press for this vanilla coffee.
  • Milk Frother: This is optional, but adding a little vanilla milk foam to the top of the coffee brings a fun texture to the drink.
  • Serving Glass: I love heatproof mugs for this drink, but you can choose any coffee mug you like!
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Frequently Asked Questions About Vanilla Coffee

Do I Need to Make Fresh Vanilla Milk for This Recipe?

The trick to making the best vanilla coffee is my recipe for homemade vanilla milk. It only takes a short time to prepare, and stays fresh for a few days in the fridge. That means you can opt to make it right before preparing your coffee or a couple days before. This means this recipe always fits into your schedule!

Can I Make This Decaf?

Yes! This amazing coffee can be made with any coffee beans you like, including half-caf or decaf coffee.

Can I Drink Vanilla Coffee Cold?

Yes, simply prepare the vanilla coffee, and skip the milk foam for the cold rendition. Allow the drink to cool slightly and then pour it over ice.

Gorgeous coffee glass, filled with delicious vanilla coffee.

More Recipes and Tips You Might Enjoy:

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Gorgeous coffee glass, filled with delicious vanilla coffee.

Vanilla Coffee with homemade Almond-Vanilla-Milk

This scrumptious vanilla coffee is made exclusively with natural ingredients and without any syrup. Homemade vanilla milk is a delicious plant-based alternative with an excellent flavor. Keep in mind to prepare homemade vanilla almond milk a day in advance.
5 from 23 votes
Print Pin Rate
Course: Coffee, Hot beverage
Cuisine: Global cuisine
Keyword: almond vanilla milk, coffee with vanilla milk, vanilla coffee, vanilla milk
Prep Time: 5 minutes
Total Time: 5 minutes
Servings: 2 Serving
Calories: 33kcal


  • Saucepan
  • Narrow-meshed sieve
  • Frother
  • Serving glass


  • 3/4 cup Homemade vanilla milk
  • 1 cup strong coffee pour-over, French press, AeroPress
  • Frothed vanilla milk on top


  • If you made the vanilla milk the day before, heat 3/4 cup Homemade vanilla milk up on the stove or in the microwave.
    3/4 cup Homemade vanilla milk
  • Brew 1 cup strong coffee (Aeropress press, French press, or pour over) and add the coffee to the serving glasses.
    1 cup strong coffee
  • Next, pour in the vanilla milk.
  • Add Frothed vanilla milk on top using an espresso machine's steam wand, a French press, or a handheld milk frother.
    Frothed vanilla milk on top


Serving: 1Serving | Calories: 33kcal | Carbohydrates: 4g | Protein: 1g | Fat: 2g | Polyunsaturated Fat: 1g | Monounsaturated Fat: 1g | Sodium: 166mg | Potassium: 62mg | Fiber: 1g | Sugar: 3g | Calcium: 155mg | Iron: 0.03mg
Tried this recipe?Let us know how it was!

Food Safety

  • Don’t leave food sitting out at room temperature for extended periods
  • Never leave cooking food and beverages unattended
  • Always have good ventilation when using a gas stove

See more guidelines at USDA.gov.

By on April 2nd, 2024
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About Nora

Nora is a full-blown coffee addict, who loves to make and write about everything that is coffee related. She is currently training to be a barista and loves sharing her knowledge.

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