I came across this in a Kraft Food & Family magazine from 2006. It looks just like a chocolate milk shake, but tastes like coffee ice cream--it's delicious!! And the best part--it's only 74 calories!
I imagine if you don't like coffee, you could substitute chocolate syrup or peanut butter, or something creative, although it would change the calories.
Since this is a Kraft recipe, they suggest their own brands of everything, but I'll just write it as generic (I made a generic version, anyway)
Cool 'n Creamy Coffee Freeze
1 cup skim milk
1 cup frozen Cool-whip free
1 package (4 serving size) sugar-free vanilla pudding mix
1 Tbsp. instant coffee granules
Put the skim milk in a large glass measuring cup and add enough ice to measure 3 cups total. Pour into a blender. Add the rest of the ingredients and blend on high speed until smooth. Serves 4.