First add the flour, baking soda and salt to a mixing bowl. Mix well until combined.
Then add the butter, peanut butter, sugar and vanilla extract to a large mixing bowl. Use a electric mixer to mix until soft and fluffy.
Add the flour mixture to the butter sugar mixture little by little and mix until combined. Refrigerate the dough for atleast 15 mins.
Preheat the oven to 375 F. Take about 1 Tbsp of the dough, roll into a gentle ball and place it on top of a greased baking pan. Repeat for the whole dough.
Use a fork to gently press on top of the cookie dough in a criss cross pattern.
Bake in the preheated over for about 10 mins. Pull out the cookies from the oven and let them cool completely.
Invert one of the cookies. Then, scoop out a ball of ice cream and place it on top of the cookie. Place another cookie on top of the ice cream. Gently press until the ice cream is flattened inside.
Freeze for about 5-10 mins and serve cold.