Preheat oven to 350°F. Prepare ungreased cookie sheets.
In medium bowl, combine flour, baking powder, baking soda and salt; set aside.
Beat peanut butter, butter and sugars in large mixing bowl until light and fluffy. Add eggs and vanilla; beat well. Gradually add flour mixture; beat until well blended. If necessary, refrigerate dough about 15 to 30 minutes, until firm enough to shape into balls.
Shape into 1-inch balls. Place 2 inches apart on prepared cookie sheets. Flatten with fork dipped in sugar, making criss-cross pattern.
Bake 11 to 13 minutes, or until lightly browned. Remove; cool completely on wire rack.
Remove ice cream from freezer; let stand at room temperature to soften slightly, about 10 minutes. Scoop about 1/3 cup ice cream onto the flat side of half of the cookies. Place remaining cookies, flat side down, on ice cream; press cookies together lightly.
Roll edge of cookies in mini chocolate chips.
Wrap each ice cream sandwich in foil; freeze until firm, about 2 hours or overnight.