Preheat oven to 350 degrees and spray a donut pan with non-stick cooking spray. Place two cups of chocolate sandwich cookies into a large zip lock bag. Use a rolling pin to crush the cookies until only small pieces remain. Measure 1 1/3 cup of cookies and set aside.
In a large bowl combine eggs, melted butter, milk and yogurt. Whisk until smooth then add dry pancake mix and 1/3 cup crushed cookies and stir until just combined.
Place two tablespoons of batter into each donut well and spread evenly. Bake 12-15 minutes, until firm on top. Repeat with remaining batter. Cool donuts completely on a wire cooling rack.
To make the glaze, in a medium sized bowl, combine frosting mix and milk. Whisk until smooth. Arrange remaining cup of crushed cookies in one layer on a large plate.
Cut each donut in half horizontally, then dip the top half of each donut into the glaze. Gently press the glazed tops into the plate of crushed cookies.
Place one scoop of ice cream onto the bottom half of each donut, then gently press the top half onto the ice cream, creating a sandwich. Enjoy immediately or freeze until ready to serve.