My suggestion is to try making/buying fruit sorbets. They are wonderful and are just like eating a fruity ice cream. My favorite brand, and my daughter that's lactose intolerant, is Whole Fruit. The sorbet comes in a tub. They also have fruit bars (non-dairy) and frozen smoothies (dairy).
http://www.jjsnack.com/wholefruit/home1.aspx
My mom has an ice cream attachment for her KitchenAid mixer that I plan on buying to make some sorbet and ice milk (using lactose-free milk).
My daughter also misses pudding and wants to try frozen pudding pops, and I recently found a recipe that uses vanilla soymilk, corn starch, and cocoa powder. But we use organic soy and don't use a lot of it to begin with, so it's not a concern that she's getting too much.