Combine the milk, sugar, and split vanilla bean (along with the scraped seeds) in a heavy medium-sized saucepan. Bring the milk to a simmer over medium heat, stirring frequently to prevent burning.
Simmer the milk, stirring constantly, until the mixture has been reduced to approximately 2½ cups. (As you stir, try to scrape the bottom and sides of the saucepan to help keep the milk from scorching.) This usually takes about 30 minutes.
Once the milk mixture has been reduced, turn the heat down to low and add the heavy whipping cream, toasted almonds, cacao nibs, coffee grounds, and salt. Continue stirring over low heat for about another 5 minutes.
Remove the saucepan from the heat, cover, and allow the flavoring components to steep for about 10 minutes.
Pour the milk mixture through a fine mesh strainer to remove all of the used up flavoring components and then let it cool slightly. (At least 15 minutes.)
Once the mixture has cooled, add the whiskey and stir. Refrigerate the Irish cream in a pitcher (with a lid) or small bottles.
Serve in small glasses, either neat or over a couple of ice cubes.