Pour the condensed milk into a small bowl. Scrape the vanilla bean seeds into the bowl, and mix together until fully combined. Set aside
In a large bowl, whip the whipping cream until stiff peaks form. Mix in the condensed milk mixture, and mix together until fully incorporated.
Pour into a freezer-safe container, and place in the freezer for at least 6 hours, or overnight.
Create ice cream sandwiches with the cookies and ice cream!