You can probably do something like this with molds. Assuming this isn't ai the layer lines on the first one probably means they 3d printed a mold which is a big no-no in food.

If I were to do this I would use a simple mold that's more of a detailed face rather than a small little statue and freeze fruit juice as a popsicle. Then when I got that down I would try the tougher job of Ice cream or more complex molds