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).