In a large mixing bowl combine: the flour, sugar, baking powder, baking soda, and salt. Mix well.
Melt the butter in the microwave and allow a few minutes to cool.
Take the egg and separate the yolk and the white. Mix the yolk in with the 1 cup of milk. Put the white into a mixing bowl.
Whip the white with a hand mixer until a stiff peak has formed when you turn the mixer upside down.
Add the melted butter into the milk/egg yolk mixture.
Make a well in the center of the dried ingredients and pour in the wet ingredients.
Mix it all together until it is just combined and there is no dry flour. Don't worry about it being lumpy, the lumps will cook out. You don't want to overmix the batter.
Gently fold in the whipped egg white into the batter.
Allow the batter to sit out while the waffle maker heats up.
Once the waffle maker is hot. Brush butter on both top and bottom of the waffle maker then add your batter. Cook until the light goes out.
Place the waffles on a drying rack to cool completely.
Remove the ice cream from the freezer. If the ice cream is too hard to scoop, let it set out until it's soft enough.
Scoop ice cream onto one waffle until it's about 2 inches thick. Add the top waffle and smooth out the ice cream with a butter knife. Make all the sandwiches and then place in the freezer until the ice cream has hardened back up.
You could eat as is but if you want to dip in chocolate - first melt your chocolate in the microwave in a wide enough bowl to dip the sandwiches in. I first microwave the chocolate for 1 minute, then stir. Then do 30 seconds intervals until fully melted.
Immediately dip the sandwiches in the chocolate, allow to drip before placing on a small sheet pan or anything with a flat surface that will fit in the freezer. Add sprinkles to the chocolate if you like.
Freeze the sandwiches until the chocolate completely hardens. Should be rather quick. Then you can enjoy.
Notes
If you want to make chocolate waffles, replace 1/4 cup of the all-purpose flour with 1/4 cup of cocoa powder.