Ice cream will only cost you if you buy it at the Haagen Daaz stand. Ice cream is available at lunch and dinner and on Grand Class ships, usually available in Horizon Court after 3:30pm.
Except for excursions (which we like to book through the ship), we've paid extra for the alcoholic drinks, we've bought a soda card, gone to the Spa for services, etc. But these are things they you have to pay extra for on almost any ship (except luxury cruiselines)
On our first Grand cruise, we ate at both Sabatini's and the Painted Desert. The charge in 1999 was only $3.50. So, we were able to get these experiences without being charged out the nose like you are now ($25 for Sabatini's). The original $3.50 was just supposed to represent tips, since all food on the ship was including in the price of the cruise. I'm not sure how they are justifying the $25 now. We have gone to Painted Desert each cruise and for $8, it's a good deal and you get a free large margarita.