The snack is so-named because it consists of a portion of mini cookies and frosting to dunk them in and was first introduced with a kangaroo mascot back in 1992.
While they were first-introduced as graham cookies in five different shapes with chocolate or vanilla frosting for dunking, different cookie and frosting flavors were eventually introduced. They'll be coming back in "the most requested and beloved Dunkaroos flavor," Vanilla Cookies and Vanilla Frosting with Rainbow Sprinkles.
Photo via General Mills.