Put the milk into a small bowl and sprinkle the gelatin over the top. Put it in the fridge for 30 minutes to bloom the gelatin.
Add the cream and sugar to a pan. Heat on medium, stirring until sugar is dissolved.
Whisk the bloomed gelatin and milk. Add it to the pan and mix well.
Remove the pot from the heat. Add the Baileys and mix well.
Strain the mix and transfer to a heatproof container. Cover and chill in fridge for at least four hours, preferably overnight to allow the gelatin to set.
Put your storage container in the freezer to chill.
If you are using a self refrigerating ice cream machine turn it on about ten minutes before churning, other wise take your churning bowl out of the freezer right before churning.
Churn the ice cream. It will be the consistency of soft serve when done.
Transfer to chilled container, cover and freeze for about four hours, or until firm.
To serve remove from the freezer, scoop and enjoy!