Whisk together all ingredients in a medium saucepan over medium heat, and cook, whisking occasionally, 10 minutes or until steamy.
Creamy 100-Calorie Iced Coffee: Prepare recipe as directed. Let cool completely (about 20 minutes). Pour 1 1/2 cups coffee mixture into compartments of 1 ice cube tray, and freeze 4 hours or until firm. Chill remaining coffee mixture until ready to serve. Place coffee ice cubes in a pitcher, and pour remaining coffee mixture over ice cubes. Serve immediately. Prep: 15 min., Cook: 10 min., Cool: 20 min., Freeze: 4 hr.
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