Whisk together condensed milk, vanilla, vanilla beans and cardamom. Beat cream until stiff peaks. Fold the whipped cream into condensed milk mixture and freeze in a loaf pan overnight.
Poached Figs
Add everything except the figs to a medium sauce and simmer, covered, for 1/2 hour.
Add the figs and simmer for 10-15 minute cover and cool. Serve figs with ice cream.