Your aim is to have some time alone with your partner, so arrange for someone to baby sit for a few hours. This can either be a paid babysitter, or a friend or family member. However, if you prefer to stay at home then there is really no need to actually go out on a date. When your baby is asleep, spend some quality time together and focus on each other until your baby wakes for a feed.
You also do not have to only spend time together at night. For instance, travel together on your way to work and have a really good, meaningful conversation. Meet at a restaurant and have lunch together - this way, there is no baby and no household chores to worry about.