Proving that everything tastes better in waffle form, try this easy take on the traditional ice cream sandwich. Have fun decorating the ice cream sandwiches with sprinkles, mini candy, or crushed- up cookies. Be sure to grease the waffle maker between batches of cinnamon roll waffles for easy removal.
Heat a Belgian-style waffle maker, and grease generously with oil. Separate the dough into 5 rolls. Spoon the icing into a small re-sealable plastic bag, and set aside.
With a serrated knife, cut each cinnamon roll in half lengthwise. Grease both sides of the dough with some oil, and place 1 or 2 at a time (depending how many fit without touching) on the waffle maker. Close the waffle maker.
Bake until cooked and golden brown, 1 ½ to 2 minutes. Using a wooden kitchen utensil, carefully remove to a cooling rack. Repeat with the remaining cinnamon roll dough, greasing the waffle maker and dough each time. Cool the waffles completely.
To make the sandwiches, with an ice cream scoop, add about ½ cup ice cream to the center of 1 waffle, and top with another waffle. Repeat for the remaining sandwiches. Cut the corner of icing bag, and pipe some icing on top of each waffle sandwich. Sprinkle with powdered sugar and candy sprinkles if using. Serve immediately, or place in the freezer until ready to serve.