We do and I have a funny story.
My boys, 8 & 5 are obsessed with it. We were in the backyard a couple weeks ago. DS, 5, went in the house. Next thing I know he is coming back in the yard carrying 2 treats from the ice cream truck. He knew instantly that Mom was going to be mad and so he started to cry. Turns out, the 8 yo told him to go get money from his bank & buy them both ice cream. So he did it! Went out to the street, by himself, and walked right up to the ice cream truck.
They both got a VERY stern lecture about stranger danger/safety.... Made the 8 yo pay his brother back.
It's going to be a long summer..............