Thick, frothy coffee

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I would like to know if any of you knows how to make real thick, and frothy instant coffee without using any coffee machine/maker, or frother. My husband taught me how to make frothy coffee by mixing and stirring sugar and coffee with a little water until it becomes thick and fluffly and the color turns light. Then slowly pour hot milk. However, I really like the texture and taste of gourmet coffee and am wondering perhaps there is a homemade recipe for this.