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Grease an 8-inch square pan and line with parchment paper so that it hangs over the sides.
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Stir evaporated milk, brown sugar, white sugar, butter and salt in a heavy-bottomed saucepot.
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Bring to a boil over medium heat, stirring often, and cook until 238°F (use a candy thermometer to gauge)(about 7-8 minutes).
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Remove from heat, stir in vanilla and Irish Cream and scrape into a bowl or mixer fitted with the paddle attachment.
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With the mixer on low speed or electric beaters, add in the icing sugar in three additions, mixing well after each addition.
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Scrape fudge into prepared pan and let cool completely before slicing.