• Heat milk, sugar, and salt in a medium saucepan over medium heat. Stir constantly, until the mixture just reaches the point of simmer. Do not let boil.
• In a separate medium bowl, lightly whisk egg yolks. Pour about half of the warm milk into the bowl with the egg yolks, whisking while you do so. Pour the egg/milk mixture back into the saucepan with the rest of the milk. 
• Cook mixture over low heat, stirring constantly, until it thickens enough to coat the back of the spoon and/or reaches 160 degrees.
• Pour the heavy cream into a separate large bowl. Strain the egg/milk mixture into the heavy cream and stir to combine. Stir in Baileys Irish Cream. Cover with plastic wrap and place in the fridge for at least 4 hours. 
• Once mixture has been sufficiently chilled, process in ice cream maker according to manufacturer’s directions.
• Scoop ice cream in airtight containers and place in the freezer for another 4+ hours, but ideally overnight.

Baileys Hot Fudge Sauce

• Add cream, corn syrup, cocoa powder, salt, and half of the chopped chocolate to a medium saucepan over medium heat and bring to a boil.
• Lower heat to a simmer and cook for about 5 minutes, stirring occasionally.
• Remove saucepan from heat and stir in the remaining chopped chocolate, Baileys, and butter, until smooth. Transfer fudge sauce to jar or heat-proof bowl and let cool for about 20 minutes, so it can thicken more.
• If making ahead of time, store fudge sauce in the fridge until ready to use. If it is too thick to pour, you can heat briefly in microwave.