First, take a large saucepan, pour in the coffee grounds, milk and sugar. Heat it over medium heat while stirring it continuously. You have heated it enough when there is a little steam coming off the mix. Then, remove it from the burner and let it steep for 30 minutes.This next step can get messy. You need to strain your mixture and remove all the coffee grounds. You can use a cheesecloth or fine mesh strainer. I tried using a coffee filter and strainer and it was pretty messy. This was by far my longest and messiest step in the whole process. Once you've strained the coffee grounds out, pour the mixture back into the saucepan.Next, take a medium bowl and whisk the egg yolks until they are a pale yellow. Then gently mix them into the coffee mixture in the large saucepan.While you are continuously stirring heat the mixture over low heat until it begins to thicken. This will take about 10 minutes. You'll know it's ready when it starts to coat the back of the spoon.Remove the saucepan from the heat and let it cool for 15 minutes. Be sure to stir it every so often while it's cooling so it doesn't develop a film on the top.Once the mixture is cool it's time to mix in the heavy whipping cream and vanilla extract with a whisk. Be sure to mix it well.You can either pour your coffee ice cream mixture into your ice cream machine now or cover and refrigerate until you are ready to make it.If you are using the Ice Cream Depot machine you are going to set the ICD to 15.While the machine is turning your coffee ice cream mix into coffee ice cream it's time to chop up the chocolate bar. I wanted large chunks so I did big chunks.Once your ice cream is made it does taste best fresh. But if you have some leftovers I have found they store well in these containers. Keeps the freezer burn away!As you are pouring your coffee ice cream into the container or serving dish, sprinkle the chocolate bar chunks in.