The best peanut butter cookies ever! They are so perfect for ice cream sandwiches because they are soft and chewy. Such a great treat!
Preheat oven to 350° and make sure your oven rack is set to the center/middle of the oven. Line 3 baking pans with parchment paper.
In a medium bowl, whisk together the flour, baking soda, and salt. In the bowl of a stand mixer fitted with a paddle, beat the butter on medium speed until creamy, about 1 minute. Add the brown and granulated sugars and beat on medium speed until light and fluffy, 2-3 minutes. Add the peanut butter and beat on medium speed until fully combined. Add the egg and vanilla and beat on medium speed until smooth. Add the flour mixture and beat on low speed until just combined.
Using a cookie dough scoop, scoop dough balls (about 2 tablespoons each). Place on sheet pan leaving about 3 inches in-between each cookie. Using the tines of a fork to make a crisscross shape over the top of each cookie (the cookies will flatten slightly). You may need to dip your fork into flour to avoid from sticking.
Bake one pan at a time, rotating halfway through baking. Bake until the cookies have spread and the edges are set, 9 to 10 minutes. Transfer the pan to a wire rack and let cookies cool completely on the pan. Refrigerate to chill for about an hour before forming ice cream sandwiches.
Add sprinkles or desired toppings to a shallow dish.
Allow the ice cream to sit out for a few minutes to soften slightly to make it easier to make sandwiches. Scoop desired amount (about 1/2 cup) ice cream onto one side of the cookie, gently press another cookie on top. Make sure the ice cream comes out to the edges if you are rolling in goodies. Gently roll the edges into the shallow dish with the sprinkles to cover. Place on a sheet pan and put back in the freezer right away. Repeat with the rest of the cookies.
Chill for at least 1 hour or longer before serving to allow the ice cream to re-harden. Wrap individually or place in an air tight container.