here is a link to Impression Obsession's coffee related stamps in rubber. They have several options for mounting. I have several of those stamps in their clear set, and they stamp just great! (I also have IO cling and unmounted that I have used ATIO&O on, all are great quality!)
Also you can search for cupcake on their site, and there are some cute stamps. They only had a few chocolate related stamps, and I found nothing under ice cream. I do love everything I have gotten from them.
HTH!
Eileen