Whisk milk and sauce powder in a mixing bowl, then whisk until creamy with the whisk of the hand mixer. Whip the cream until stiff, allowing the cream firmer to trickle in. Fold the cream into the vanilla sauce.
Crumble the biscuits and divide them into 4 glasses (each containing approx. 400 ml). Sprinkle biscuits with Baileys. First add red fruit jelly, then vanilla cream. Decorate with chocolate rolls.