Put the gelatin in a saucepan, add the Baileys Mint Chocolate and the Greek yogurt and beat the mixture until you get a nice smooth sauce.
Now place the saucepan on the stove over low heat and stir until the gelatin has melted. Then put it in a cool place.
Cut the figs into wedges and toss in the Baileys mint chocolate jelly. Arrange the figs nicely and serve with the mint ice cream.