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Neelix eating ice cream.
Ice cream is an ancient Human dessert. It consists of frozen dairy products, including milk, custard, or cream.
The chef made homemade ice cream for dessert aboard Enterprise in 2154. (ENT: "Fortunate Son")
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 and pistachio. (TOS: "And the Children Shall Lead")
In 2366, Deanna Troi dreamed of a real chocolate sundae with real chocolate icecream and whipped cream. (TNG: "The Price")
In 2368, she enjoyed a chocolate sundae with chocolate icecream, chocolate chips, chocolate fudge and a cherry in Ten Forward. (TNG: "The Game")
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. Of course, Jono's unfamiliarity with the operation of a spoon soon led to the dessert being splattered across Wesley. (TNG: "Suddenly Human")