I tried the Purely Decadent Peanut Butter Zig Zag frozen dessert for the first time today and it is amazing. Probably too amazing for my own good. Calories are high (230) per serving and saturated fat is 3g (12g total fat) but it's non-dairy and tastes like ice cream for sure.
I won't be able to keep this in my freezer all of the time because if I do I will need to move up a waist size. But when I really need my ice cream fix, this will do it.
For a lower calorie and 0 saturated fat option, the Rice Dream is another good item.