I have ice cream bars for dessert after dinner quite often. I'll admit I go over my daily sugar almost every day, and the ice cream is a top contributor, but I find that it's completely worth it. I LOVE ice cream and I don't care if it's sugary- it's delicious. Having a 100 cal portion satisfies me for the day and doesn't make me sick from huge amounts of sugar either.
The most important thing: I am still losing weight!
Good luck!