01 - Combine heavy cream, milk, sugar, and salt in a medium saucepan. Heat over medium until sugar dissolves and mixture is hot but not boiling.
02 - Whisk egg yolks in a separate bowl. Slowly pour about 1/2 cup hot cream mixture into yolks while whisking constantly. Gradually whisk tempered yolks back into saucepan.
03 - Cook over medium-low heat, stirring constantly, until mixture thickens and coats the back of a spoon (approximately 170°F).
04 - Remove from heat. Stir in peppermint extract and food coloring if using. Strain through fine sieve into clean bowl. Cool to room temperature, then refrigerate at least 4 hours or overnight.
05 - Churn chilled mixture in ice cream maker according to manufacturer's instructions. Add chocolate chips during final minutes. Transfer to container and freeze until firm.
06 - Preheat waffle iron. Whisk together flour, sugar, baking powder, baking soda, and salt in large bowl.
07 - Whisk eggs, milk, melted butter, and vanilla in separate bowl. Pour wet ingredients into dry ingredients and stir until just combined; do not overmix.
08 - Lightly grease waffle iron. Pour batter into iron and cook according to manufacturer's instructions until golden and crisp. Repeat with remaining batter.
09 - Place warm waffle on each plate. Top generously with scoops of mint chocolate chip ice cream. Garnish with extra chocolate chips or fresh mint if desired.