Combine the two with a beer float!

That’s my answer to the question. Though I am not a beer drinker in general, I occassionally like a Guiness, and though I am not a vanilla ice cream lover, I do love chocolate. A quick search revealed the clear winning beer float recipe for my palate:

Chocolate Guinness Float

4-5 ounces Guinness Extra Stout – Irish Dry Stout, Guinness LTD., Dublin, Ireland
Chocolate ice cream
2 tablespoons chocolate syrup

Pour half of the Guinness in a pint glass. Add chocolate syrup and mix. Place 2 scoops of chocolate ice cream in glass. Finish with a final pour of Guinness for a dramatic head.

I’m trying this out at our summer party in a few weeks

Beer: http://www.nutritiondata.com/facts/beverages/3827/2
Ice Cream: http://www.nutritiondata.com/facts/sweets/5547/2

With comparable servings they are roughly even on calories.
The clear difference is that ice cream has 1/4 of your daily value of saturated fat.

That said, they are both worth the pleasure! And in stark contrast to yoga, a wise friend once said “Anything worth doing, is worth overdoing.”