This page contains information regarding Star Trek: Discovery, and thus may contain spoilers.
In 2266, Kevin Riley, under the influence of the Psi 2000 polywater intoxication, ordered that double portions of ice cream be served for the crew. When Uhura tried to cut off his announcement, he announced that there would be no ice cream for her. (TOS: "The Naked Time")
An ice cream cart was seen by James Kirk, Spock, and Leonard McCoy on the planet Sigma Iotia II in 2268. The Iotians based their culture on 1920s Earth gangster culture. (TOS: "A Piece of the Action")
The food synthesizers aboard the USS Enterprise offered numerous selections on tape of ice cream flavors, including vanilla, strawberry, cherry, peach, chocolate, chocolate wobble, coconut, Rocky Road, banana, and pistachio. (TOS: "And the Children Shall Lead")
Wesley Crusher told Jono in 2367 that his favorite ice cream dish was the banana split, which was available in Ten Forward aboard the USS Enterprise-D at that time. Jono's unfamiliarity with the operation of a spoon, however, soon led to the dessert being splattered across Wesley. (TNG: "Suddenly Human")
Deanna Troi was extremely fond of chocolate ice cream. In 2366, she dreamed of a real chocolate sundae with real chocolate ice cream and whipped cream. (TNG: "The Price") In 2368, she enjoyed a chocolate sundae with chocolate ice cream, chocolate chips, chocolate fudge, and a cherry in Ten Forward. (TNG: "The Game") In 2376, she visited Reginald Barclay and asked for only one scoop of chocolate ice cream because she was watching her figure. However, Barclay's cat, Neelix, ate from the ice cream. (VOY: "Pathfinder") Troi also got some chocolate ice cream on Jupiter Station from Dr. Lewis Zimmerman's holographic assistant, Haley, even though she said she hardly deserved it. (VOY: "Life Line")