Preheat oven to 350° F. Line a baking sheet with parchment paper or silicone baking mat. Set aside.
Using a hand or stand mixer, add brown sugar, granulated sugar and butter then cream together on medium for 2-4 minutes or until light and fluffy.
Mix in peanut butter, eggs and vanilla then combine well.
In a separate bowl, combine flour, baking soda, baking powder and salt. Slowly mix into the wet ingredients until well combined.
Scoop dough into 2-inch sized balls and roll to make uniform. Place on baking sheet then use a fork to make a crosshatch pattern on the top of each cookie slightly flattening the cookie.
Place in oven and bake for 9-10 minutes or until edges are very lightly browned and the top is still soft. After removing from oven, let rest on the baking sheet for 2-3 minutes before transferring to a cooling rack. Let cool completely.
To make sandwiches, spread about 1 teaspoon each of jam on the bottom of two cookies. Place a scoop of ice cream on one side, place the other cookie on top, then very carefully press down to even out the ice cream. Place cookie sandwiches on a parchment lined baking sheet or dish then into the freezer for at least 3 hours before enjoying.