Is there a food that resembles the texture and consistency of ice cream but is not cold/does not have to be kept cold? 
Much of the distinctive experience of ice cream comes from its temperature, so be prepared for disappointment. However, a set custard like in a crème brûlée or panna cotta is creamy and holds its shape, and can be flavoured as ice cream can be. Alternatively, a mousse has air bubbles incorporated into the mixture so is much lighter, although less creamy. Because it cannot rely on ice crystals for solidity, it will necessarily be richer than ice cream so you'd want a smaller quantity (I'm imagining an ice cream cone filled with custard and it is way more than I would want to consume). 