All you have to do is brew your coffee the night before using good-quality coffee beans. That way, it can come to room temperature by the time the morning comes around. Now I have personally never been a fan of pouring hot coffee over ice but if it doesn’t bother you, then you can whip this up in the morning – it’s up to you!
Then you can whip up a batch of simple syrup, but only if you need it. A batch should last you for a few weeks, unless you like to douse your coffee in sugary goodness. No judgment here. Then you can add a splash of milk or half-and-half, although I highly recommend the latter.