In a perfect world, I would eat ice cream all summer long, but it just so happens that, in this world, I am lactose intolerant and don’t have the metabolism of a super model.
If you can relate, you might appreciate some of these alternatives.
While not all of the recipes are low-calorie, they call for fresh simple ingredients without any nasty additives which certainly makes them healthier than most of the ice creams and other desserts you can buy in a store.  Most of the recipes are even dairy-free or can be easily adapted to include substitutions for milk.
Enjoy!
Cinnamon Toast Ice Cream (Dairy Free)
Low-Calorie Peanut Butter Ice Cream
Banana Cherry Garcia Soft Serve
3-Ingredient Strawberry Banana Popsicles
2-Ingredient Pineapple Cream Popsicles
