First, bake your brownies according to package directions. Near the boxes of brownie mix, you should be able to find smaller pouches that are marketed as "snack size" and make a 9x9 pan. This is what you want! Bake them up, and let them cool completely.
In the bowl of a stand mixer fitted with a whisk attachment, whip the heavy cream until it holds stiff peaks. Slowly drizzle in the sweetened condensed milk until it's completely incorporated.
Once the mixture is thick and fluffy, add in the cake mix and sprinkles.
Grab a 9x5 loaf pan {or other suitable ice cream container}, and pour in half of the ice cream mixture. Top with small pieces of the brownie, then add in the remaining ice cream, and repeat.
Cover tightly with plastic wrap, and freeze for at least 6 hours. Enjoy!