Where I live, there's a street food called taho that is essentially silken tofu mixed with a dark sugar syrup, and jelly pearls (sago, or tapioca jelly pearls). You can usually get it piping hot, which is delightful during monsoon season, although during the dry/hot season I like to keep it in the refrigerator until chilled. Sweetened blackstrap molasses is closer to the flavor than honey or most light syrups, just in case you want to try this recipe at home. Sometimes, the syrup is infused with jackfruit.
I'm trying to remember that sort of soy Japanese pudding that's served usually after a meal, so it might technically be "dessert" except that it's not sweet, it's salty and light, mostly made of silky soy curd as well.
I've never tried tofu ice cream.
Tempeh is a more robust form of soy curd than most tofu...perhaps that can hold up well being baked into something sweet. I'm thinking grilling on a skewer with sweet potatoes and a honey glaze (just because I'm personally a fan of honey) but I haven't tried that myself either.
