Peanut Butter and Chocolate Ice Cream Sandwiches

Preheat the oven to 375°F. Line a few baking sheets with parchment paper.

Whisk together the flour, baking soda, baking powder, and salt in a medium bowl.

Beat the butter, peanut butter, sugars, and vanilla extract in the bowl of an electric mixer on medium speed for 3 to 4 minutes, until light and fluffy. Add the milk and egg and mix until well combined. With the mixer on low speed, add the flour mixture in three additions, blending until just incorporated.

Using an ice cream scoop, form the dough into 16 balls and place on the prepared baking sheets, spacing the cookies 2-inches apart. Bake for 15 to 17 minutes, until lightly browned around the edges. Remove from the oven and let cool for 5 minutes. Transfer the cookies to wire racks and let cool completely.

Place half of the cooled cookies, flat side up, on a work surface. Place a large scoop of ice cream on top of each cookie. Place the remaining cookies on top and press gently to seal. Place the sandwiches on a large rimmed baking sheet and freeze for about 1 hour, until firm.