Preheat your waffle iron and spray nonstick spray.
Make cake mix according to the box directions, substituting plain yogurt for the oil and skim milk for the water. It's healthier, and frankly tastier!
Using a ½ cup measuring cup, scoop a "rounded" ½ cup of mix into your waffle maker.
Depending on how your waffle maker works, cook the waffle until it's cake-like. You don't want them to be crispy, but a cake-consistency. You'll be surprised how easily they pop out when they're done, and how well they stay together.
Lay each cooked waffle on a baking rack to cool, and then transfer them over to a sheet of wax paper on a cookie sheet. Keep adding a sheet of wax paper in between each layer until you've made them all.
Stick those bad boys in the freezer for a few hours.
When you take them out of the freezer a few hours later they'll still be soft, but they'll be firm enough to hold the ice cream. Now pile on as much ice cream as you want, and INHALE THEM. I dare you not to.