Combine the milk, sugar, whole coffee beans, salt and 1 cup of the cream in a medium saucepan and heat over medium until warm, stirring to dissolve the sugar. Once its warm, turn off the heat, cover and let steep 3 hours.

Once the 3 hours is up reheat the milk mixture to warm, place the remaining cream in a large bowl, and place a strainer over the bowl. In a separate medium bowl whisk the egg yolks and slowly add some of the warmed milk mixture, whisking constantly to slowly warm the yolks. Once all the yolks are warmed pour back into the milk mixture and stir until slightly thickened, being careful not to scramble the eggs. Pour the custard into the bowl with the cream through the strainer, pressing on the beans and scraping back and forth to make sure all the custard is in the bowl. Mix in the vanilla and ground coffee and chill completely. Once chilled freeze using an ice cream maker or ice cream attachment for a Kitchen Aid according to directions. Add in the Kahlua about 2 min before finished in the ice cream maker and freeze in an airtight container completely before serving to firm up the ice cream.