Preheat Belgian waffle maker. Prepare brownie mix according to package instructions.
Spray the top and bottom plates of the waffle maker with nonstick cooking spray. Scoop 1/3 cup batter onto the waffle maker and close the lid.
Cook the waffles for 6 to 8 minutes, until the waffle maker stops steaming. Carefully remove the waffle from the waffle maker and allow to cool completely.
Separate the waffles into four slices. Place half the slices on a large plate or baking sheet. Spread the softened ice cream over the top of each of the waffle slices.
Place remaining waffle slices on top of the ice cream.
Place the ice cream sandwiches in the freezer and freeze for at least 2 hours before serving.