Scoop the vanilla ice cream into serving bowls or glasses.
In a small saucepan, heat the Espresso Balsamic Vinegar over low heat for about 3-4 minutes, or until it slightly thickens. If you like a sweeter drizzle, stir in the honey.
Drizzle the warm Espresso Balsamic Vinegar over the scoops of ice cream.
Top with whipped cream if desired and serve immediately.