Whisk together all ice cream ingredients, pour into an ice cream maker, and freeze as per instructions. Transfer to a container and freeze for 4-6 hours.
Heat waffle maker, whisk egg and milk, add pancake mix and melted butter, and cook waffles until golden. Cool waffles.
Spread ice cream on half of the waffles, top with another waffle, and slice into quarters. Roll edges in toasted pecans if desired. Serve immediately.
Notes
For easier assembly, slightly soften the ice cream before spreading.