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Ice Cream sandwiched between two waffle cookies on a plate with ice cream in the background.
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Skinny Waffle Cookie Ice Cream Sandwich Recipe

Delicious ice cream sandwiches made with cookies baked in a waffle iron and filled with healthier ice cream!
Prep Time15 mins
Cook Time5 mins
Course: Dessert
Cuisine: American
Servings: 6
Calories: 309kcal
Author: Jenn


  • Waffle Iron


  • 2 Tbsp. light butter softened
  • 2 Tbsp. unsalted butter softened
  • 1/3 cup Truvia Baking Blend (or 2/3 cup granulated sugar)
  • 2/3 cup light brown sugar
  • 1/4 cup cinnamon applesauce
  • 1 tsp. vanilla extract
  • 1 egg
  • 2 cups all-purpose flour
  • 1/2 tsp. baking soda
  • 1/2 tsp. salt
  • 1/2 pint Open Nature® Scandal-less Light Ice Cream - Sea Salt Caramel Flavor
  • 1/2 pint Open Nature® Scandal-less Light Ice Cream - Vanilla Flavor


Waffle Cookies:

  • In a Kitchen-Aid or similar mixer, combine the two butters, two sugars, applesauce and vanilla extract. Blend until creamy. Add egg and mix.
  • Mix flour, baking soda and salt and pour into butter mixture. Mix until combined.
  • Heat waffle iron. Spray with canola oil. Using an ice cream scoop, place one medium sized scoop onto each square of the waffle iron. Close the lid and let cook for about 3 minutes, timing depends on your waffle iron. You can pretty much smell when they're done.
  • Lift lid and carefully peel cookies off the waffle iron.

Making Waffle Cookie Ice Cream Sandwiches:

  • While the waffle cookies are warm, take a scoop of ice cream on one waffle and top with another waffle. Squsih together like a sandwich and serve. Enjoy!


*Nutrition calculations from MyFitnessPal App. 1 serving = one full sandwich (2 cookies + ice cream).


Serving: 1sandwich (2 cookies + ice cream) | Calories: 309kcal | Carbohydrates: 66g | Protein: 6.1g | Fat: 5g | Saturated Fat: 2g | Monounsaturated Fat: 1g | Fiber: 2g | Sugar: 25g