Set the oven at 350. Line a baking sheet with parchment paper. Have on hand a pastry bag fitted with a 1/4-inch plain round tip or a zipper bag with a tiny cut in one corner.
In a saucepan, heat the milk until scalding. Add the butter and salt. When the butter melts and the mixture is hot, add the flour all at once.
With a wooden spoon, beat the mixture and cook it for 1 minute.
Transfer the mixture to an electric mixer. Add the eggs, one at a time, and beat until combined.
Spoon the batter into the pastry bag or zipper bag.
Pipe the batter into mounds that are 1 inch high and 1 inch wide. Dip your fingertips into a bowl of warm water and swirl the tops.
Bake the profiteroles for 15 minutes or until golden brown. Press the sides gently with your fingers to see if the puffs are firm and hollow. Turn off the oven, and let the profiteroles sit for 10 minutes.
Take them out and cut a little slit in the side of each one to let the steam come out. Leave to cool completely.
With a serrated knife, cut the tops off of each puff. Fill each with a spoonful of vanilla ice cream and replace the tops. Drizzle with chocolate sauce (BELOW). Adapted from "Barefoot in Paris"