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To make the ice cream, warm the cream, milk, coffee and vanilla seeds in a pan until steaming.
Whisk the sugar and yolks in a bowl or free-standing mixer until pale, then pour over the warmed cream and milk, whisking constantly. Return to the pan then cook slowly over a low heat, stirring constantly, until it coats the back of a spoon or reads 82C on a digital thermometer. If it does scramble a little you can strain the mixture through a fine sieve.
Cool then chill completely before adding the rum. Churn in an ice-cream maker until set then freeze until needed.
To serve, remove the ice cream from the freezer 5 minutes before serving to soften. Whip the cream with the sugar and vanilla extract until soft peaks. Layer 4 sundae glasses with a spoon of crushed ice and a scoop of ice cream. Repeat this three times. Pour over a generous splash of sweetened coffee, top with the whipped vanilla cream then dust with cocoa.