He said: "I have spoken to Dave Penney many times over the past two years, nearly signing before.
"When I played for Scunthorpe I lived in Doncaster so know the area well."
Ipoua scored 29 times times in a two year spell at Glanford Park, after arriving on a free transfer from Bristol Rovers in August 1999.
He played a key part in the club's battle to stay in the then-Second Division before moving to Gillingham on transfer deadline day in 2001.
After a further two years in Kent he signed for Scottish Premier League side Livingston last season, but was one of several players released in February as the club's financial problems took hold.