Substitute ice cream with frozen fruit. Not only will your taste buds thank you for the treat, but you'll sneak in some daily fruit servings this way too. I like to mix up frozen mango chunks, pomegranate seeds and berries, but you can use whatever fruit you like. (click for more info)
Let the fruit thaw out a bit for a few minutes before eating to get it softer.
I get my fruit pre-frozen from Trader Joe's, but if you don't have that convenience, you can easily buy fruit, clean it, prep it (cut bigger fruit into bite-sized pieces) and freeze it in freezer bags. Enjoy!