Infrared Reflection Absorption Spectroscopy (IRAS) on dielectric single crystals is challenging because the optimal incidence angles for light-adsorbate interaction coincide with regions of low IR reflectivity. Here, we introduce an optimized IRAS setup that maximizes the signal-to-noise ratio for non-metals. This is achieved by maximizing light throughput, and by selecting optimal incidence angles that directly impact the peak heights in the spectra. The setup uses a commercial FTIR spectrometer and is usable in ultra-high vacuum (UHV). Specifically, the design features sample illumination and collection mirrors with a high numerical aperture inside the UHV system, and an adjustable aperture to select the incidence angle range on the sample. This is important for p-polarized measurements on dielectrics, because the peaks in the spectra reverse direction at the Brewster angle (band inversion). The system components are connected precisely via a single flange, ensuring long-term stability. We studied the signal-to-noise (SNR) variation in p-polarized IRAS spectra for one monolayer of CO on TiO2(110) as a function of incidence angle range, where a maximum signal-to-noise ratio of 70 was achieved at 4 cm-1 resolution in five minutes measurement time. The capabilities for s-polarization are demonstrated by measuring one monolayer D2O adsorbed on a TiO2(110) surface, where a SNR of 65 was achieved at a delta_R/R0 peak height of 1.4x10-4 in twenty minutes.