In a large saucepan, combine the milk and the sugar and stir over medium heat until the sugar has dissolved. Remove from heat and cool. Place in the refrigerator until chilled, about 1 hour.
In 4 large coffee mugs or tall glasses, pour enough milk to fill two-thirds of the way. Slowly pour about 3 tablespoons of espresso into the first mug. Add 1/4 cup club soda, 1 scoop ice cream and a dollop of whipped cream. Repeat with the other 3 mugs.
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