Preheat oven to 350°F (175°C). Line a baking sheet with parchment paper.
In a mixing bowl, whisk together gluten-free flour, baking soda, and salt.
In another bowl, beat butter, brown sugar, and granulated sugar until creamy. Add eggs and vanilla extract, and mix well.
Gradually add the dry ingredients to the wet ingredients, mixing until combined. Stir in chocolate chips.
Drop dough by rounded tablespoons onto the prepared baking sheet. Bake for 10-12 minutes or until golden brown. Let cool completely.
Once cookies are cool, place a scoop of softened vanilla ice cream between two cookies. Press gently to spread the ice cream evenly. Repeat for all cookies.
Wrap each sandwich in plastic wrap and freeze for at least 1 hour before serving.