Hi Micky,
As a first time mom-to-be I never thought of this! I did some reading up and it seems its safe from age 12 months and up! Most places do mention that it must not be given too often and you could maybe start of with frozen yogurt.
I found a nice article on this from
www.newkidscenter.com. They have loads of tips on how to introduce ice cream (and other things) :lol:
Hope this helps!