Add the soy milk and sugar to a pot and heat over the stove on medium to medium high heat.
Continue to stir and heat the soy milk to just before a boil & add the vanilla.
Remove the soy milk from the stove.
In a standing mixer, add the egg yolks and beat together.
Slowly add the warmed milk to the egg yolks (very slowly or the eggs will cook) while the mixer is turning.
Once all the milk is combined into the egg yolks return the mixture to the pot over the stove.
Turn the stove to medium-medium/high heat & stir the mixture.
Continue stirring and cooking the mixture until it thickens and coats the spoon/spatula.
Once the mixture is thickened, turn off the stove and remove the pot from the heat.
Strain the mixture through a cheese cloth.
Stir in the lactose free milk & allow the mixture to cool.
After cooling for approximately 30 minutes, place the mixture into a storage container with a lid and store in the refrigerator overnight.
The next day, add the mixture to an ice cream maker & make the ice cream (according to ice cream maker instructions).
Once the ice cream is churned, place the ice cream in the freezer overnight.
Meanwhile, make the cookies so they have time to cool before making the ice cream sandwiches.
Preheat the oven to 350 degrees.
Add the peanut butter, coconut sugar, & eggs to a bowl and mix together with an electric mixer.
After the dough is combined, stir in the amount of chocolate chips you want in your cookies.
Add the cookies to a baking sheet using a cookie scoop so the cookies are all uniform.
Place about 12 cookies per baking sheet (9x13in).
Wet your fingers and press the cookies down slightly.
Bake the cookies for 9 minutes.
After the cookies are done, remove them from the sheet and onto a cooling rack.
Repeat until all the cookie dough is used.
Store the cooled cookies in an airtight container.
The next day, remove the ice cream from the freezer.
Scoop ice cream onto a cookie & then place another cookie on top.
If you want, you can put sprinkles on the sides of the ice cream sandwich for a patriotic look.
Repeat until you use all the cookies.
Wrap each cookie sandwich in foil & place the cookies into the freezer until ready to eat.