Ample Hills at the Boardwalk is where it's at! At Epcot, you can take the boat to and from the Boardwalk. I think it's worth leaving, but just know that the sundae portions are HUGE. My DH and I couldn't finish one together (granted, we had just eaten lunch at Epcot, but still!). The ice cream is of very high quality, and if you visit at an off time, they will let you sample tons of flavors. The Butter Cake ice cream was amazing.