In a sauce pot on medium heat add the milk and heavy cream. Let it come to a boil and reduce the heat.
If using gelatin sheets, soak in room temperature water until softened and add into the hot milk mixture. If using gelatin powder, pour hot water over it and let it sit (this is letting the gelatin bloom). Once it has soaked up the water, add it into the hot milk mixture and stir.
Add the sugar, stir and take it off the heat. Keep stirring until smooth. Add the Baileys, vanilla and pinch of salt. Stir to combine.
Pour into silicon moulds that have been brush with oil and transfer to the fridge. Chill for 2 hours until set.
Serve with whipped cream and a dusting of espresso powder.
Notes
Instead off the 2 gelatin sheets you can use 10gm gelatin powder instead. If using powder, make sure to bloom the powder in hot water and them add it to the hot milk and cream mixture. You can also use 5gm agar agar powder. Add it into the hot milk mixture and stir around until dissolved.