1. Heat oven to 350°F.
2. In large bowl, combine peanut butter and next 4 ingredients until blended. Shape into 1-inch balls and place on parchment paper-lined baking sheet; press with a fork to flatten. Bake 15 minutes. Remove to wire rack to cool completely.
3. Place jelly in small microwave safe bowl and cook on HIGH 30 seconds. Stir until smooth and let cool completely. Stir into ice cream and refrigerate 2 hours.
4. Scoop ice cream mixture into small scoops and place on flat side of half the cookies. Sandwich and press with remaining cookies.
This recipe is recommended for 8 servings.