Combine coffee, liqueur and ½ cup sugar in a saucepan and bring to the boil over medium-high heat, stirring to dissolve sugar. Add figs, then simmer over low-medium heat until figs are soft (5-6 minutes). Cool, remove figs and refrigerate syrup. Coarsely chop figs and set aside.
Whisk eggs and remaining sugar in a heatproof bowl until pale. Meanwhile, combine milk and vanilla bean and seeds in a small saucepan. Bring just to the boil over high heat, then pour over egg mixture, whisking continuously until combined. Place bowl over a saucepan of simmering water and whisk over medium heat until thick (3-4 minutes). Remove from heat and place over a bowl of iced water to cool.
Melt chocolate in a heatproof bowl over a saucepan of simmering water. Cool to room temperature, then whisk into egg mixture. Set aside.
In a separate bowl, whisk cream until soft peaks form, then gently fold into chocolate mixture. Fold through hazelnuts and figs and pour into a greased, baking paper-lined 23cm x 8cm x 8cm loaf pan. Cover with plastic wrap and freeze until firm (4 hours or overnight). Serve sliced, drizzled with syrup.