It does exist! My mother bought me an ice cream machine as a Holiday gift (go Mom!) and I've been antsy to try it out. (I have Cuisinart's Ice Cream Maker. You can find it online for roughly $30)
The Cuisinart came with a little recipe book for making homemade ice cream... but every recipe called for cream or whole milk... I suppose I could have substituted canned coconut milk or soy creamer but I didn't like the idea of eating all that fat... so I scoured the internet for a low fat ice cream recipe. Eventually I came across one that used tofu and gave it a try. The result? pretty damn spectacular. I added vanilla extract -- about 1 1/2 tsp, vegan chocolate chips and a whole wheat gram cracker to make a sort of "cookie dough" vegan vanilla ice cream.