Beat the butter, white sugar, brown sugar together until light and fluffy. Beat in the egg until combined, then beat in the peanut butter and vanilla in large bowl until fluffy.
Sift the flour, baking soda, baking powder and salt; gradually add to butter mixture, beating until well blended.
Stir in the Reese's Pieces.
Drop by round tablespoonfuls onto an ungreased cookie sheet if you want a cookie sized for ice cream sandwiches, otherwise heaping teaspoons for smaller cookies.
Bake 10 to 12 minutes or until edges are lightly browned and then remove from the oven. You will need to cool these for a good 5 minutes, then you need to remove them from the sheet and onto a wire rack to cool completely.
To make the sandwiches, take two large cookies, place vanilla ice cream between them. Gently squish them together (watch the cookies!) to make an ice cream sandwich.
Place the orange sprinkles on a plate then roll the cookie in the sprinkles, the ice cream will pick them up.