Tiramisu Ice Cream Cake

What you will need

1 cup whole milk

1 1/2 cups heavy cream

1/2 cup sugar

4 pieces egg yolks

1 teaspoon vanilla extract

8 ounces mascarpone cheese

24 pieces ladyfingers

1 cup freshly brewed strong coffee or espresso, cooled

1/4 cup unsweetened cocoa powder