The coconut milk ones are probably the closest, but, as nit picky as it is, they don't quite freeze right in a way that brushes me wrong. That said, I'm not a big ice cream fan, so when I have it, it better be good.

When I'm asked to make a vegan dessert, I usually go for a peanut butter tofu chocolate pie, a shockingly good pudding pie style dessert with the bonus of protein content and some shock factor when you get to tell folks you're serving them tofu for dessert, or a fresh fruit tart. I found that you can use oat milk, vanilla and Bob's Red Mill egg replacer to make a pretty decent custard simulacrum, as long as you keep it sparing in the final dish. Works great for heavily flavored things like pumpkin pie and in fruit tarts where people are just gonna be tasting delicious in season fruit and some vaguely vanilla mush under it.

Or, of course, baked goods, which have become largely trivial to veganize with modern egg and dairy replacements.