There are decent places for ice cream, but very few are actually home made, it's mostly from large companies. It used to be Edy's at Disney, I think it still is. As others have mentioned, the ice cream in the France pavilion at Epcot is hand made, one of the few places. Salt and Straw is their own brand, and it's, well, interesting. I know you said you don't like soft serve, but there's nothing like a cold Dole Whip at the MK on a hot day! Or even a not so hot day!