For the Marinated Figs with Ice, carefully peel and slice the fruit.
Place the fig slices in a bowl and marinate, covered, with the orange liqueur for about 1/2 hour.
Mix the orange jelly with the whipped cream.
Cut the vanilla ice cream into balls, place in dessert bowls and top with the jelly/cream mixture.
Top with the figs and drizzle with the orange liqueur marinade.
Serve your Marinated Figs with Ice Cream sprinkled with chopped pistachios.