Scrape any extra residue from the surface of the upholstery using a blunt butter knife.
Wet a white cloth and add a few drops of liquid dish soap. Squeeze out the cloth to remove excess moisture.
Dab the ice cream stain with the moist cloth. Don't rub the stain, or you may worsen the problem.
Blot the stained area with a dry, white cloth.
Continue dabbing and blotting the stain until no more of the ice cream residue is transferring to the cloths.
Moisten a cloth with dry cleaning solvent and dab the stain if there is any trace of the residue left. Blot dry as you did before.