Yes you can, although i have never done that. They usually use soy milk, soy yoghurt or silken tofu.
Google Soy icecream recipe and you should find a myriad of recipes.
You could also just add your own flavouring to the vanilla So Good icecream if you don't want too much effort. Let it soften, then stir through pureed strawberries or matcha green tea powder for example.
Or add some mashed banana to the chocolate ice cream.