I third the ice cream maker suggestion. We have one and you can control all your ingredients to your preference. I made a mixed berry ice cream with heavy cream and almond milk recently and it was amazing. You can flavor with teas, flowers, extracts, SF syrups, etc., to keep the calories down, which makes a way more interesting ice cream than you can buy. Like how about rose-raspberry ice cream? Or salted caramel and peanut? If you're going dairy free, you can also use coconut milk (canned) to great effect. I bought this book last summer and if I swap out the sweeteners, it gives a great base to start from:
Also: lemon-ginger, peanut butter and "jelly" (cooked down raspberries), German chocolate (chocolate ice cream with toasted coconut, SF caramel syrup and pecans), earl grey with lemon zest...if you have any imagination at all, an ice cream maker is the way to go.