Line a baking sheet with foil or parchment paper and lay out 12 graham crackers.
Add sweetened condensed milk, heavy cream, vanilla, and mascarpone into a large mixing bowl.
Beat ingredients with an electric mixer on low for 2-3 minutes.
Once your ingredients are fully combined, turn your mixer on high and beat for 5-8 minutes until fluffy.
Fold in chocolate chips or other mix-ins.
Spread the ice cream mixture across the graham crackers creating a thick even layer.
Place 12 more graham crackers on top of the ice cream mixture and gently press down to release the air bubbles.
Freeze for at least three hours.
Once frozen you can break apart the sandwiches into 24 pieces.
Store is a gallon size freezer bag and enjoy!