Combine the graham cracker crumbs, peanut butter, sugar and cinnamon together in a bowl and mix well (or you can mix it in a food processor.).
Using a good ice cream scoop, scoop mounds of vanilla ice cream and roll into balls (about the size of a tennis ball). Roll into graham cracker mixture and coat the entire ice cream ball really well. Place into a cupcake liner and place on prepared cookie sheet and freeze for several hours.
Serve with chocolate sauce, raspberry jam or caramel sauce.