Heat oven to 400 degrees F. In saucepan, bring water, butter, sugar and salt to a boil over high heat. Add flour all at once; stir until ball forms and pulls away from sides of pan; cook, stirring constantly, 2 minutes. Remove from heat.
Add eggs, one at a time, beating well after each addition. When all eggs are added, beat well until mixture is shiny, about 1 minute. Spoon into large pastry bag without a tip. Pipe 18 puffs, about 1 -1/2 inches in diameter, onto ungreased baking sheet.
Bake in 400 degree F oven for 30 minutes, until puffed and golden. Turn oven off. Let sit in oven 10 minutes with door slightly ajar. Remove to wire rack; let cool completely.
Cut puffs in half horizontally. Remove any wet dough. Fill each with scant 3 tablespoons ice cream. Dust with sugar. Drizzle plates with sauce; place puffs on top. Makes 6 servings.