Stir pudding powder separately with 3 tablespoons of sugar and 6 tablespoons of milk until smooth. Halve the remaining milk and bring to the boil in two pots. Stir in each of the pudding powders, bring to the boil and simmer for about 1 minute, stirring continuously. Stir the Baileys into the chocolate pudding. Let the whole pudding cool down for 5-10 minutes.
Pour the vanilla and chocolate Baileys pudding alternately into 6 glasses (each containing approx. 200 ml). Chill for about 2 hours. Whip the cream until stiff. Crown each Zebra Baileys cream with a large cream tuff and decorate with wafer rolls