Combine sauce ingredients in pan and bring to a boil.
Reduce heat and simmer until thickened (temperature reaches 225).
Allow to cool.
In a large bowl, whisk heavy cream and Baileys on high speed until soft peaks form.
Add in condensed milk.
Spread 1/3 of this mixture into a loaf pan.
Drizzle chocolate over mixture.
Spread 1/3 of this ice cream mixture into a loaf pan over chocolate.
Drizzle chocolate over mixture.
Spread remaining ice cream miture into pan.
Cover with foil and freeze for 6 hours or until firm.