Dip the blade of a small pairing knife into hot water to heat. Using the warm knife, make a small cut in the side of each mini stick and place on the rim of the martini glasses. Place glasses with minis into freezer until ready to serve.
To make the Frappatini, place vodka, Baileys Original Irish Cream Liqueur and Baileys Original Ice Cream into a blender and pulse until smooth.
Pour mix into the chilled martini glasses. Top with a dollop of whipped cream and a sprinkle of espresso powder. Serve immediately.