Combine coconut milk, coffee, and raw sugar in a small saucepan over medium heat and whisk until well combined - about 5 minutes.
Remove from heat and whisk in vanilla. Transfer to a bowl to let cool completely in the fridge - at least 6 hours, overnight being preferable.
Transfer to ice cream maker and prepare according to manufacturer instructions. Once done either eat immediately or transfer to a freezer-safe container and let harden for several hours. Should keep for 1 week in the freezer. Let stand for 15 minutes at room temperature before serving.
*Though it won't yield as desirable of results, if you don't have an ice cream maker, simply let the mixture cool after cooking, then transfer to a large, freezer safe container and place in the freezer. Every hour remove from the freezer and whisk vigorously to incorporate air - this will make the ice cream less dense/more fluffy, creamy. Repeat until desired consistency is achieved. *Prep time does not reflect freezing/cooling time. *Nutrition information is a rough estimate.