Bake 22 to 26 minutes or until toothpick inserted near edge comes out almost clean. Do not overbake. Press back of wooden spoon into center of each cupcake, forming a small bowl, then cool 5 minutes; remove from pan. Cool an additional 25 minutes, then carefully remove paper liner from outside of cupcake. Fill each cup with a scoop of vanilla ice cream and top with sprinkles, if desired.