Better to avoid
Better not. Ice cream is sugary, fatty and made with milk many dogs cannot digest — and some flavours (chocolate, or anything with xylitol) are outright dangerous. A “dog-friendly” frozen treat is the better call.
A lick of plain vanilla ice cream will not poison most dogs, but it is a poor treat: high in sugar and fat, and based on cow’s milk that lactose-sensitive dogs digest badly, leading to gas and diarrhoea. The bigger risks are flavour-specific — chocolate ice cream brings theobromine, coffee flavours bring caffeine, and any “sugar-free” or “no sugar added” version may contain xylitol, which is life-threatening. Toppings and cones add more sugar.
We would skip it. If you want to share something cold, make a dog “nice cream” by freezing mashed banana or plain xylitol-free yogurt instead. If your dog ate sugar-free or chocolate ice cream, treat it as an emergency.
Frozen mashed banana, watermelon cubes, or plain yogurt frozen in a toy.
General information, not veterinary advice. If your pet has eaten something potentially harmful or shows symptoms, contact your vet or an emergency clinic immediately. Full disclaimer.