Turn on your Belgian waffle iron to pre-heat.
Prepare the entire box of gluten-free waffle mix according to package instructions.
Take your pints of dairy-free ice cream out of the freezer so they have about 20-30 minutes to thaw. You want the ice cream to be soft but not liquid.
Cook your Belgian waffles until crisp and golden. Use cooking spray each time so they can be removed easily. I got 4 large Belgian waffles from a 1 lb waffle mix box.
Put your Belgian waffles on a sheet pan and place in the freezer for 10-15 minutes.
On the sheet pan, spread each pint of ice cream on one waffle. Top each with a second waffle and put the sheet pan back into the freezer for at least 3 hours.
After 3+ hours, you can take the large waffle sandwiches out of the freezer and slice each sandwich into quarters along the pre-made lines of the Belgian waffle iron.
If you wish, roll the edges of the sandwiches in sprinkles, mini chocolate chips, or both! These waffle ice cream sandwiches can be stored in the freezer for up to a week, just let them thaw for 10 minutes before eating. Enjoy!