Dreyer's Ice Cream recently posted this photo of ice cream cupcakes on their Facebook page. I've never tried making ice cream cupcakes, thinking they would be too complicated. But after seeing this inside view, maybe they wouldn't be impossible to make.
According to Dreyer's, after the cupcakes cool, cut out the middle of the cupcake and fill with ice cream. Put the top back on and freeze. When the cupcakes are ready to be eaten, frost and enjoy!