Line an 8x8 straight-side cake pans with parchment paper or plastic wrap. Set aside.
Remove the Häagen-Dazs Chocolate Salted Fudge Truffle Non-Dairy Frozen Dessert from the packaging and cut into large cubes. Place in a bowl and use a sturdy spatula to beat the ice cream until it is malleable, like a thick cake batter. Spread into the cake pan and use an offset spatula to smooth the top so that it is even. Cover with plastic wrap and place in the freezer to chill overnight.
When the ice cream is firm, use a 2.5 inch cookie cutter to cut 9 rounds of ice cream. Transfer to a parchment lined baking sheet, cover with plastic wrap and return to the freezer to chill until ready to assemble the ice cream sandwiches.
Prepare the baked churros:
Preheat the oven to 400°F.
Line 2 baking sheets with parchment paper and use a pencil to draw 9 2.5-inch circles using a cookie cutter, 2 inches apart, on each baking sheet, for a total of 18 rounds. If you are lucky enough to have extra baking sheets, double up and stack the prepared baking sheets on top of another one to help ensure that the bottom of the churros bake evenly and lightly.
In a small saucepan, whisk together the water, 6 tablespoons sugar, salt, and oil. Place over medium heat and bring to a boil. Remove from heat and beat in the flour using a wooden spoon until it forms a ball. If using eggs, add the eggs and continue beating with the spoon - the mixture will separate then return to dough form. Let it cool slightly.
Transfer the slightly cooled dough into a large pastry bag with a large star tip or a large, resealable plastic bag. Pipe the dough into the rounds you have drawn on the parchment paper. It's easier to draw them from the center, working your way outwards. Dip a finger into water and press down any ends so that you have an even seam. At this point, you can refrigerate the dough to bake at a later time, if you wish.
Lightly sprinkle the dough with water then place in the oven to bake for about 20 minutes, or until golden brown, rotating the baking sheets in the oven, if necessary. As soon as they are ready, turn off the oven and let it sit for 10 minutes more before removing from the oven.
In a small bowl, whisk together the sugar and cinnamon until combined.
Lightly spray the churros with coconut oil and drop into the sugar and coat on all sides. Set aside. You should have about 18 churro rounds to make 9 sandwiches (with perhaps a few extra to snack on while you assemble). Let it cool completely before assembling the ice cream sandwiches.
Assemble the ice cream sandwiches:
Place a round of ice cream on one of the churro rounds. If using caramel sauce, spread a thin layer on top of the ice cream. Top with another churro. Enjoy immediately!
Baked Churro Ice Cream Sandwiches FAQ
Can I make these ahead of time? Yes. While you could assemble and chill in the freezer until ready to serve, the churros tend to lose their tender texture. Instead, I recommend that you freeze the fried doughnuts after they have fully cooled in a single layer on a baking sheet, then transfer to the freezer in an airtight container. When you’re ready to reheat them, pop them in a 300°F oven for about 10 minutes, or until hot and crispy. Then assemble the sandwiches and enjoy!
Can I fry the churros? Absolutely! This dough also works well fried! It helps to refrigerate the dough a bit to make it easier to transfer to the oil.