How can I install ClockworkMod recovery on my Motorola Defy+?
Luckily rooting the Motorola Defy is pretty simple and doesn't require any extraneous measures. Please see this link for a tutorial on how to root and install a custom recovery (ie. clockworkmod) on your Motorola Defy.

As far as installing an ICS ROM, after doing some research it appears there is not a fully functional ROM available yet. However, if you are willing to give up a feature or two, you may be able to get a stable release running on your phone. Please refer to the xda wiki page specifically for the ICS development status on the Motorola Defy for more information about the project.