Process ice cream and milk in a blender 15 to 20 seconds or until smooth, stopping to scrape down sides, if needed. Remove and reserve 1 cup crushed cookies. Fold remaining crushed cookies into ice-cream mixture.
Pour ice-cream mixture evenly into 4 serving glasses. Drizzle each with 2 Tbsp. Chocolate-Peanut Butter Sauce. Sprinkle with reserved crushed cookies. Serve immediately.
Note: For testing purposes only, we used Girl Scout Tagalongs cookies.
Vanilla-Banana Tagalongs Milk Shakes: Substitute vanilla ice cream for chocolate ice cream. Proceed with recipe as directed, processing 1 banana with milk and ice cream.