Combine the crushed cookies, peanut butter cups and candy-coated chocolate pieces and add a spoonful to the bottom of each paper cup.
Scoop the ice cream into a large bowl of a mixer, then pour in the remaining chocolate-cookie mix. Mix gently with a paddle attachment. Spoon the ice cream into the cups and carefully insert a popsicle stick into each pop.
Freeze until the ice cream has solidified. Tear off the paper cups to serve.