It is fine to have it occasionally, but avoid local unpasteurized ice creams to prevent infections. Always check with your doctor if you have gestational issues.
Please watch out for the sugar content, especially if you are monitoring your glucose. Having a small bite is fine, but don't overindulge without your doctor's advice.
Yes, you can absolutely enjoy it in moderation! During my first trimester, a cold scoop of vanilla ice cream was the only thing that helped soothe my severe nausea.