I may have some recipes in my cookbook shelf (I can check if you like)... but Bryanna Clark Grogan has posted some tofu/soy
ice "creams" on her board at Vegsource (http://www.vegsource.com/talk/beginner/index.html
). (In my experience, she is always very happy to repost huge, comprehensive files of recipes and info on request.) She has also made some soy-free variations, mostly using almonds and other nuts.
Anyhoo, playing around with these and some Splenda (or maybe some stevia, which I personally prefer) might be even more fruitful than the skim-dairy route. Silken tofu makes a lovely creamy base, with much more natural "richness" (or illusion of same) than trying to lower traditional recipes. As for nut stuff, it's higher in fat, of course, BUT it's all, as we're told, "heart healthy"!