Combine the warm milk and active dry yeast in a small bowl. Let it sit for about 5–10 minutes until the mixture becomes frothy, signaling that your yeast is alive and ready to work its magic!

Whisk together the granulated sugar, large eggs, and salt in a large mixing bowl. Pour in the frothy yeast mixture, blending it all until nicely combined to create the sweet base of your brioche.

Gradually add the all-purpose flour into the mixture, stirring until a dough begins to form.

Knead in the softened butter, working it into the dough for about 10 minutes until it's smooth and elastic.

Place the dough in a greased bowl, cover it with a cloth, and let it rise in a warm area for 1–2 hours or until it doubles in size.

Preheat your oven to 375°F (190°C).

Punch down the risen dough gently, then divide it into approximately 12 equal pieces.

Shape each piece into a round ball and arrange the dough balls on a greased baking sheet. Cover and allow them to rise again for another 30–45 minutes.

Bake in the preheated oven for 15–20 minutes or until the tops are golden brown.

Let them cool completely on a wire rack.

Slice each brioche in half horizontally.

Scoop your favorite ice cream onto the bottom half of each brioche and gently press the top half down.

Freeze the assembled sandwiches for about 30 minutes to firm them up.

Serve immediately or keep them stored in the freezer until ready.