If made with milk, and sweetened with natural fruit, such as ripe blueberries, strawberries, etc., with egg yolk acting as the thickening agent, this might just be possible. I don't think you can find a way to make vanilla any heathier, as you need to use sweetener, and even the no-calorie sweeteners have negative health aspects to them, often times, more serious than the negative health aspects of natural sugar.
Commonly, either starches, or egg yolks are included in ice cream recipes to control ice crystal formation, and to add body to the ice cream. I'm wondering if you could do that with pectin. If so, then you could make great ice cream using fiber (as pectin is a fruit fiber), increasing the fiber content in your diet.
Gelato is made with milk rather than a cream and milk combination, resulting in smaller ice particles, and denser consistency. It is also served slightly warmer than is ice cream, allowing the tongue to better taste the flavors of the gelato. So I'm thinking that a home made gelato, using pectin as the thickening agent might give you healthier results. Using fruit as the sweetening agent would not only provide the sweetness needed for the desert, but would give you all of the wonderful, nutritional value of both the fruit, and milk, with added fiber from the pectin. Can you imagine a gelato made with liquified blueberries (run raw blueberries in the blender before adding to the gelato base). I'm thinking that this would make a truly healthy ice cream, or gelato desert. But then again, this might also be termed a sherbert. In any case, I will be trying out the idea.
