Whisk together the milk, whipping cream, 1/3 c. sugar, coffee grounds, salt, almond extract, and vanilla extract. Bring to a simmer over medium heat. Meanwhile, whisk together the remaining 1/3 c. sugar and egg yolks until pale yellow, about 2 minutes.
Gradually mix half of the cream mixture into the egg yolks, whisking constantly. Pour the yolk-cream mixture back into the saucepan, and cook over medium heat until slightly thickened. It should coat the back of a spoon. Strain through a fine-mesh sieve into a small bowl. Cool it with an ice bath. Press a piece of plastic wrap over the top to keep a skin from forming. Refrigerate for one hour.
Stir in the chopped almonds. Freeze in an ice cream maker according to manufacturer's instructions. Pour into a freezer-safe container. Freeze for one hour before serving.
If you want to remove all coffee grounds, strain through cheesecloth rather than a fine-mesh strainer.