Recipe: Ice Cream Sandwiches - Maybe this is what you are looking for?

I hope this is what you are looking for, it's a new one for me I haven't tried it yet, so I can't tell you how soft they are, but I hope it works for you. Good Luck!

ICE CREAM SANDWICHES

1/3 cup butter
1/3 cup granulated sugar
1/4 cup packed brown sugar
1 1/2 teaspoons unsweetened cocoa powder
1/4 teaspoon baking powder
1 egg
1/2 teaspoon vanilla
1 1/2 ounces unsweetened chocolate, melted and cooled
slightly
1 cup plus 2 tablespoons all purpose flour

Soften ice cream at room temperature for about 15 minutes. Spread in a 15x10x1 inch baking pan and refreeze.

In a large bowl beat butter with an electric mixer on medium to high speed for 30 seconds. Beat in both sugars, cocoa powder and baking powder just until combined. Beat in egg and vanilla. Stir in melted chocolate. Beat in as much of the flour as you can with the mixer. Stir in any remaining flour.
Work with half the dough at a time.

On a lightly floured surface roll each portion of dough to about 1/8 inch thick. Cut with a round or decorative shaped cookie cutter. You should have 36 cookies. Place cookies on ungreased baking sheet.

Bake in a 350 degree oven for about 12 minutes or until edges are done. Cool on cookie sheet for one minute. Transfer to rack to cool.

To assemble, let ice cream stand at room temperature for about 5 minutes. Cut out desired shapes with the same cookie cutter. Place ice cream cut out on the flat side of a cooled cookie and place another cookie on top of the ice cream, flat side down. Press slightly to seal. Wrap each in plastic wrap and freeze for two hours.