In a medium saucepan, combine the heavy cream, whole milk, and sugar. Heat over medium heat, stirring occasionally until the sugar dissolves and the mixture begins to warm up (don’t let it boil). If making a custard, whisk the egg yolks in a separate bowl. Slowly pour a bit of the warm cream mixture into the yolks to temper them, stirring constantly. Then, add the yolk mixture back into the saucepan and cook, stirring constantly, until the base thickens enough to coat the back of a spoon (about 5-7 minutes).

Once the base is ready, remove it from the heat and stir in the Baileys Irish Cream. If you like, add the vanilla extract and a pinch of salt to enhance the flavor. Let the mixture cool to room temperature, then refrigerate for at least 2 hours or until fully chilled.

Pour the cooled mixture into your ice cream maker. Follow the manufacturer’s instructions to churn for 20-25 minutes, or until the ice cream reaches a soft-serve consistency. If you don’t have an ice cream maker, pour the mixture into a shallow dish and freeze. Stir vigorously every 30 minutes to break up ice crystals, repeating for 4-6 hours.

Once churned, transfer the ice cream into an airtight, freezer-safe container. Smooth the top with a spatula and cover with wax paper or plastic wrap before sealing the lid. Freeze for at least 4 hours to set.

Let the ice cream sit at room temperature for 5-10 minutes before serving to soften slightly for easier scooping. Enjoy with your favorite toppings or on its own!