The last dessert I had in F the other week was "Apple crisps with vanilla bean ice cream" or "Trust me, Mr X., it's apple crumble despite what it says on the menu and it's very nice" as the lovely Purser put it

So some of the F menus have ice cream loaded anyway (it was good, the ice cream especially - the Purser subsequently took the piss out of me for polishing off all the ice cream and only a little of the crumble as I was quite full!).
A few times this year I've asked the F crew if they'd be able to get me ice cream from Club Kitchen and it's never been a problem. When not asked for with dessert, I've found it comes rather better presented than in CW...two of them carefully arranged in a First china bowl, dusted with chocolate last time IIRC