Child friendly no alcohol substitute

Thanks everyone for your recommandations! I made it with 1/4 cup of baileys finally, for m’y husband and I. It was absolutely delicious!

I will try it without the liqueur or with your substitutes next time I make it.

I realize this is post Valentine's Day but for the future you can add a teeny pinch of xanthan gum (like 1/16 tsp for a quart of ice cream). It will prevent the hardness without the alcohol flavor. I have also read that a healthy pour of condensed milk may also accomplish the same thing but I have not tried that yet.

I would actually skip the alcohol overall, maybe add an extra tablespoon of sugar instead. The ice cream will still be creamy and rich, just not as soft when you take it out of the freezer, it might need a few minutes at room temperature to soften.

With respect to substituting fruit juice, etc. for the the liqueur to make the recipe kid-friendly, one of the purposes of using liqueur is to prevent the ice cream from freezing “rock solid”. While using juice will make it suitable for kids, it might make the ice cream freeze too hard to be scoop-able straight from the freeze. You might have to let it sit at room temp for 10-15 minutes or so before you can serve it.

Haven't used it myself, but a possible substitute is one of those concentrated bottled fruit syrups from which one mixes a more diluted drink. In a pinch, use defrosted orange juice concentrate at full strength.
Use about 1/3 measure of syrup or concentrate compared to original measure alcohol.
It will give many but not all exact benefits of the alcohol to the ice cream - namely, sugar and flavor.