FORGOT TO ADD, REST BETWEEN SETS IS 2-3 MIN.
About going to failure:
Well, it's an endless debate between those who train to failure, and those who don't. I'm not really going get into that right now.
Let's just say I think it's better to go 1 rep short of failure, because going to failure ON EVERY SET, ALL THE TIME is very taxing on the nervous system and will (atleast in my case) lead to over training. Sure, as a shock technique, from time to time. you can do a set or two to failure if you feel it's withing your body's abilities to recover. But based on what works for me and my body, and I'm just a regular Joe as far as genetics are concenrned, I would say think of failure the same way you think of forced reps, rest-pause, strip-sets etc.
I'm not going to say the program I gave is the ultimate tricep builder. There's a time and place for everything, even volume training but if you are genetically just average, like me, then better make it short & sweet.