Put the milk, sugar and orange rind in a large saucepan and bring almost to the boil. Add the rice and cook on the lowest possible heat, stirring frequently, for 25–35 minutes or until the rice is creamy but the grains are still firm. Remove from the heat and set aside to cool. Chill until required.
Meanwhile, halve the figs and place in a lightly buttered shallow ovenproof dish. Drizzle with the honey and orange juice and bake in a preheated oven, 200°C (400°F), Gas Mark 6, for 20 minutes, or until beginning to colour. Allow to cool, then chill until required.
When ready to serve, scoop the ice cream into the rice mixture and stir until it has just melted to make a creamy sauce. Spoon into bowls with the figs and cooking juices and garnish with thin slices of orange rind, if liked, and serve immediately.