In a small sauce pan, warm the milk and heavy cream over medium-low heat.Slice the vanilla bean in half, scrape out the seeds and add them to the sauce pan. Add the empty vanilla bean pod and sugar, too.Bring to a light simmer (keep a close eye on it!). Steep for 10-15 minutes, until nicely fragrant.Remove from heat, and discard the vanilla bean pod. Stir in the BAILEYS® Coffee Creamers Frosted Vanilla Cookie. Taste and add more, if you like.Divide the mixture between two mugs, and top with whipped cream for serving.