In a medium saucepan, combine the milk and heavy cream. Heat over medium heat, stirring occasionally, until just warmed through but not boiling.
In a separate bowl, whisk the egg yolks and sugar together until pale and fluffy.
Slowly pour a small amount of the warm milk-cream mixture into the egg yolk mixture, whisking constantly to temper the eggs.
Pour the tempered egg mixture back into the saucepan. Cook over low heat, stirring constantly, until the mixture thickens slightly and coats the back of a spoon (about 5-7 minutes).
Remove from heat and stir in the vanilla extract and Irish Cream liqueur. Let cool to room temperature.
Pour the ice cream mixture into an airtight container and refrigerate for at least 4 hours, or preferably overnight, to chill thoroughly.
Pour the chilled mixture into an ice cream maker and churn according to the manufacturer's instructions. If you don't have an ice cream maker, freeze for 3-4 hours, stirring well every hour to break up ice crystals.
Serve in elegant glasses or cones and enjoy the creamy flavor of homemade Irish Cream ice cream!
To provide the best experiences, we and our partners use technologies like cookies to store and/or access device information. Consenting to these technologies will allow us and our partners to process personal data such as browsing behavior or unique IDs on this site and show (non-) personalized ads. Not consenting or withdrawing consent, may adversely affect certain features and functions.
Click below to consent to the above or make granular choices. Your choices will be applied to this site only. You can change your settings at any time, including withdrawing your consent, by using the toggles on the Cookie Policy, or by clicking on the manage consent button at the bottom of the screen.