First of all ICO is a sequal to Shadow of the Colosus. The baby in the end is the kid in ICO.
Secondly, the purpose of SotC was to kill 16 giants to give life back to your love. However you're in a forbidden kingdom, there is a reason why it's forbidden. You become cursed when you slay all the giants, but because of your innocence, you're spared, and your love is revived.
Been a while since I beat it, I remember it being really amazing and sad. Never beat ICO though.
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