I'll second the vote for SO Delicious coconut milk ice cream. It is very tasty and has a good creamy texture and mouth feel. My children love it, and it does compare favorably to regular dairy-based ice cream. It IS a little pricey, but no more than regular premium ice creams.
If you'll need to avoid dairy long-term and want to save some money, get one of the little Cuisinart ice cream makers, some coconut milk, and make your own. Then you are also equipped to make fruit sorbets, which are a lovely alternative to dairy ice cream. It's easy to find recipes online. Last summer I made a honeydew melon-mint sorbet that my whole family loved, as well as peach, strawberry, and lavender-lemon.