Yes, of course, you can give your child a small taste of ice cream, if you'd like. A taste is much different that an entire scoop. You'll know by the next day, if it doesn't set well. It's even possible to put your child on whole milk as early as 10 months of age, if you want. One year is what they push now...but it's really your decision. By nine months your child has begun to eat a variety of foods, even table foods and you don't have to be so afraid of letting them try things as long as you keep track, so you'll know if a new food causes a reaction.
Enjoy your baby and his/her new adventures. Don't be afraid over every little thing that goes on. So many young moms are alarmists these days. I know most of you don't think we *old fogeys* know anything anymore <grin>...but I spend a great deal of time taking required up-to-date classes on nutrition and early childhood developement and have for the past 22 years; besides raising my own two daughters and helping with four grandchildren. It's most important that you relax and enjoy your child.
God bless you and yours.