Place the milk sugar and vanilla extract with the whisked egg yolks in a sauce pot and bring the milk on low heat just under boiling point, while stirring gently with wooden spoon. The sauce will thicken, while getting warm. Turn the heat of just before the boiling point. DO Not BOIL the sauce.
Add 1 cup for fresh orange juice and the Grand Marnier to the sauce. Dissolve the gelatin in the rest of the orange juice. Add the gelatin to the hot liquid and heat the sauce till you are sure the gelatin is completely dissolved.
Place the sauce pot in an ice bath to stop the cooking process.
Whip the whipped cream till the peak level and set aside.
Stir the sauce occasionally till it starts thickening.
Add the orange wedges and the mint leafs.
Fold the sauce into the whip cream and place in a mould immediately.
Chill for a minimum of 6 hours before removing the bavarois from the mould.
Serve this rich and creamy dessert with some whipped cream and fresh orange salsa