In small sauce pan heat milk, sugar, and sweetened condensed milk on medium heat.
Once warm, remove from heat. Split open vanilla bean pod and scrape into milk mixture. Toss bean pod in as well. Add coffee and cocoa powder, cover and allow to steep for one hour.
Rewarm milk. In separate bowl mix together egg yolks. Working in batches, pour ½ cup of rewarmed milk into egg yolks. Whisk to combine and scrape yolk and milk mixture into sauce pan.
Stirring constantly, heat custard until slightly thickened and it coats the back of a spoon.
Remove from heat and pass through a strainer into bowl with heavy whipping cream. Fish out vanilla bean pod from sieve and return to custard. Cover custard with plastic wrap (plastic wrap should be resting right on custard).
Refrigerate for 6-8 hours, or overnight.
Stir and strain custard. Add irish whisky and stir.
Pour into ice cream maker and churn according to manufacturers instructions.
Once it's finished churning, stir in chocolate chips.
Spoon into container and freeze.
Recipe by Talia Bunting at https://www.taliabunting.com/irish-cream-ice-cream/