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Combine the whole milk, heavy cream, and ground espresso in a medium saucepan over medium heat. Warm the mixture, stirring occasionally, until it just begins to steam and small bubbles form around the edges, about 5 minutes — do not let it boil. Remove from heat, cover, and let the coffee steep for 10 minutes.
Pour the steeped milk mixture through a fine-mesh strainer into a clean bowl or large measuring cup, pressing the grounds gently to extract all the liquid. Discard the grounds and return the strained liquid to the saucepan over medium-low heat.
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