Prepare Crust: Combine graham cracker crumbs, melted butter, brown sugar, and salt in a bowl. Press into the bottom of a 9x13 inch baking pan. Bake at 350°F for 10 minutes. Cool completely.

Make Filling: Combine orange juice, orange zest, and Jell-O powder in a saucepan. Heat over medium heat until Jell-O dissolves. Remove from heat and let cool slightly. Beat cream cheese and condensed milk until smooth. Gradually add cooled Jell-O mixture, beating until combined. Fold in whipped cream.

Assemble Bars: Pour orange mousse over the prepared crust.

Make Topping: Melt chocolate chips with heavy cream and vanilla extract. Pour over the cooled orange mousse.

Refrigerate: Refrigerate for at least 4 hours or overnight.

Make Whipped Cream: In a chilled bowl, beat heavy cream, powdered sugar, scraped vanilla bean, and a pinch of salt until stiff peaks form.

Make Ice Cream: In a large bowl, combine sweetened condensed milk, vanilla extract, orange curd, and orange zest. In a separate bowl, whip heavy cream until stiff peaks form. Gently fold the whipped cream into the condensed milk mixture.

Freeze Ice Cream: Pour the ice cream mixture into a freezer-safe container and freeze for at least 4 hours or overnight, stirring occasionally to prevent ice crystals.

Serve: Top with fresh whipped cream and orange creamsicle ice cream.