Make the hot fudge sauce:

1. Simmer: Combine heavy whipping cream, unsalted butter, light brown sugar, granulated white sugar, and fine sea salt in a small saucepot. Bring to a simmer over medium-low heat – about 30 seconds.
2. Whisk in cocoa powder: Remove the pot from the heat and sift in the cocoa powder using a fine mesh strainer. Whisk until no lumps remain.
3. Simmer again: Place the pot over low heat and simmer again, whisking continuously for 20 seconds, until glossy.
4. Stir in vanilla: Remove the pan from the heat and stir in the vanilla extract.
5. Storing: Transfer to jars with lids. Allow to cool completely, then cover and store in the fridge until needed.

For the Baileys Espresso Crème Ice Cream with Hot Fudge Sauce:

1. Combine sweetened condensed milk with flavorings: In a large mixing bowl, mix together the sweetened condensed milk, Baileys Espresso Crème Irish Cream Liqueur, vanilla extract, and coffee extract until combined well.
2. Make the whipped cream: Pour the heavy whipping cream into another large mixing bowl. Using an electric hand mixer (or stand mixer with the whisk attachment), beat the cream starting on low speed and increasing the speed as the cream thickens, until stiff peaks form – about 4-12 minutes. (Note: Time for beating the cream will vary depending on several factors such as environmental conditions, how cold the cream is, etc.)
3. Fold: Add the whipped cream to the bowl with the sweetened condensed milk and flavorings mixture. Fold gently until fully combined, and the mixture is slightly thick and creamy.
4. Warm the hot fudge sauce: Add the hot fudge sauce to a microwave safe measuring cup. Warm on medium power for 15-25 seconds, stirring once in between, until the sauce has loosened up from its thick and sticky texture.
5. Assemble and freeze: Add about ¼ cup of the Baileys espresso crème ice cream mixture to an ice cream paper carton. Then drizzle a tablespoon of the hot fudge sauce on top and use a chopstick or skewer to create swirls. Repeat until the carton is full. Place a small sheet of nonstick cooking paper (parchment paper) on top, making sure the paper is touching the ice cream. Cover with the container with its lid. Repeat with the remaining ice cream mixture and hot fudge sauce and fill the remaining paper ice cream cartons. Freeze for 6 hours or until solid. (Note: If using another type of sealable freezer safe container such as a bread loaf pan or reusable insulated ice cream tubs, fill with half of the ice cream mixture and top with half of the hot fudge sauce. Swirl the hot fudge sauce with a chopstick or skewer, then repeat once more with the remaining ice cream mixture and hot fudge sauce. Cover with a sheet of nonstick cooking paper or cling wrap and press out any air bubbles. Then cover with the container’s lid (if it has one) and freeze for 6 hours.)
6. Serve: Place the ice cream container on the counter at room temperature for 5 minutes to soften slightly. Then scoop, serve, and enjoy!