In a pitcher, stir the ground coffee into 4 cups water.

Cover and let rest at room temperature overnight or for at least 12 hours.

In a saucepan over medium heat, combine the vanilla beans, milk, and sugar.

Bring the mixture to a simmer and immediately remove from the heat.

Allow to steep for about 20 minutes.

Select 4 tumblers.

Strain the coffee through a fine-mesh sieve into a large bowl.

Strain again through a coffee filter into a large, clean pitcher.

Fill the glasses with ice cubes.

Pour the coffee into the glasses, filling them within 1 inch of the rim.

Top each glass with ¼ cup of the vanilla flavored milk.

Garnish each drink with a vanilla bean pod and serve immediately.