How to Make the Best Iced Coffee Recipe with Milk

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This iced coffee recipe with milk is so easy and makes the absolute best iced coffee. You can make iced coffee with milk using hot coffee, cold coffee, or cold brew concentrate. No matter which of the different brewing methods you choose there is one consistent trick to making the best iced coffee with milk. 

Iced Coffee Recipe with Milk

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​What You Need to Make Iced Coffee with Milk

With tons of iced coffee recipes out there, of course, there is more than one way to make iced coffee. We are sharing our favorite method that makes the best iced coffee each and every time. This easy recipe is perfect for a hot summer day. You will need:

  • Aeropress coffee maker
  • hot water
  • 28g coffee
  • 1/4-1/2 cup milk of choice
  • coffee ice cubes
  • optional – sweetener of choice
what do you need to make the best iced coffee

Start with Strong Coffee

The key to all great coffee drink recipes starts with great coffee. We always use quality coffee beans and grind our own coffee grounds. Grinding your own beans yields the freshest coffee flavor for your coffee drinks. We are also using the Aeropress coffee press. The Aeropress is similar to the French press and makes great coffee in a short brew time. You can find out more about Aeropress as well as more Aeropress coffee recipes here: Aeropress

fresh ground coffee

Start by scooping 28g of ground coffee into the Aeropress brew chamber. 

coffee grinds in aeropress for iced coffee

Then fill the brew chamber with hot water all the way to the top. 

easy iced coffee

Stir the coffee and water together to make sure that the coffee is fully immersed and can brew properly. Stir for 30 seconds to 1 minute. 

Aeropress coffee maker for iced coffee

Next, gently insert the plunger into the top of the brew chamber to allow the coffee to steep in the water for one minute. Place the Aeropress over a mason jar or other glass.

aeropress coffee recipe

Then gently depress the plunger to push the hot brew coffee through the Aeropress and into the glass. 

aeropress coffee

Once all of the coffee is through the Aeropress and in the glass go ahead and set the Aeropress aside to wash. Make sure that the plunger is depressed all the way until you hear a slight hissing sound of air.

how to make coffee

Make sure to check out The Best Accessories for your Aeropess Coffee Maker to take your coffee making to the next level here: Best Aeropress Accessories.

Making the Best Iced Coffee

Now that you have your cup of coffee you can move on to the best part. The secret to making the best iced coffee recipe with milk is to use coffee ice cubes. You can make coffee ice cubes with a simple ice cube tray and your favorite kind of coffee. They are a true coffee drinkers best friend. See how easy it is to make your own coffee ice cubes.

easy coffee ice cubes

Pour your coffee into a tall glass filled with coffee ice cubes.

best iced coffee

The hot coffee will melt the ice cubes a bit. When using regular ice cubes this could dilute your iced coffee. But with coffee ice cubes there is nothing to worry about. Just go ahead and add a few more coffee ice cubes to the glass. 

coffee iced cubes in iced coffee

Next, grab your milk of choice, and pour up to a half cup of milk into the iced coffee. We are huge fans of cashew milk.

milk in iced coffee

You can use: 

  • almond milk
  • whole milk
  • oat milk
  • coconut milk
  • skim milk 
  • cashew milk
  • any other kind of milk
how to make iced coffee with coffee iced cubes

Easy Iced Coffee

Using coffee ice cubes in your iced coffee will always yield the best results no matter how you make the coffee itself. We suggest using the same coffee for the ice cubes as your iced coffee so the flavor of coffee matches when the ice melts.

Iced Coffee Recipe with Milk with coffee ice cubes

Save yourself a trip and a few dollars. Make your iced coffee recipe with milk at home and skip the local coffee shop. This is such an easy cold drink to make on hot days. 

Iced Coffee Recipe with Milk

FAQs and Variations

You are always able to adjust a recipe to your own personal preference. Doing this may yield different results.

Can I use decaffeinated coffee to make iced coffee?

Yes, of course!

I don’t have an Aeropress, how else can I make the coffee? 

You can use a standard drip coffee maker, or even a store-bought cold brew coffee, or coffee concentrate. 

Can I add sweetener to the iced coffee? 

Yes, you can add whatever sweetener you’d like. Simple syrup, brown sugar, coconut sugar, and maple syrup are all great options. The best way to add the sweetener is to add it to the coffee while it’s still hot. 

How to Make the Best Iced Coffee Recipe with Milk

How to Make the Best Iced Coffee Recipe with Milk

Yield: 1
Prep Time: 5 minutes
Total Time: 5 minutes

This iced coffee recipe with milk is easy and makes the best iced coffee. We are sharing the trick to making the best iced coffee with milk.


  • Aeropress coffee maker
  • hot water
  • 28g coffee
  • 1/4-1/2 cup milk of choice
  • coffee ice cubes


  1. Make coffee with Aeropress coffee press, Use 28g coffee and fill water to top of the chamber.
  2. Stir coffee and water in chamber then insert plunger to steep coffee for one minute.
  3. Depress plunger to push coffee into a glass.
  4. Pour brewed coffee into a glass filled with coffee ice cubes.
  5. Add more coffee ice cubes to replenish any that melt.
  6. Add milk of choice
Nutrition Information:
Yield: 1 Serving Size: 1
Amount Per Serving: Calories: 97Total Fat: 4gSaturated Fat: 2gTrans Fat: 0gUnsaturated Fat: 1gCholesterol: 15mgSodium: 107mgCarbohydrates: 9gFiber: 0gSugar: 9gProtein: 7g

All Nutritional Information is approximate and will vary

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