In a mixing bowl, combine the almond milk, protein powder, peanut butter, maple syrup, vanilla extract, coffee granules, and salt. Whisk until smooth.
Taste the mixture and adjust sweetness, adding more syrup if needed.
Pour the mixture into your ice cream maker and churn according to the manufacturer's instructions until it reaches a soft-serve consistency.
Transfer the mixture to a freezer-safe container and smooth the top.
Freeze for at least 2 hours, or until firm enough to scoop.
Scoop, serve, and enjoy your peanut butter coffee protein ice cream!