I'm looking for a recipe that doesn't call for instant coffee or pre-made syrups. I guess I'm okay with condensed milk, but the more from-scratch, the better.
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Here's an easy recipe I found recently: http://thewholekitchen.wordpress.com/2009/03/01/diy-irish-cream/
this one uses powdered espresso and cocoa powder, but it says in the notes that you can use brewed espresso instead. That said, the use of powdered coffee makes sense if you're trying to keep the water in the recipe to a minimum and the flavour as pleasant as possible.