Add the sauce ingredients to a small saucepan and bring to a boil.
Reduce heat and simmer until thickened and the temperature reaches 225.
Remove from the heat and set aside to cool.
For the ice cream, whisk heavy cream and Baileys on high speed until soft peaks form.
Add in condensed milk and gently stir to combine.
Spread 1/2 of this mixture into a loaf pan.
Drizzle 1/2 of the cooled chocolate over mixture over the top.
Spread the remaining ice cream mixture on top.
Drizzle the remaining chocolate sauce on top.
Use a chopstick to make swirls, making sure not to mix it all together.
Cover with foil and freeze for 6 hours or until firm.