There is no reason why you can't serve a Yorkshire as a dessert; I've even made one for the restaurant baked with cherries, which is a bit of a take on the French clafoutis. You can adapt this idea how you wish, by varying the flavour of the ice-cream, homemade or bought in, and serve things such as chocolate sauce on the ice-cream, perhaps with some honeycomb.
8 or so balls of good-quality vanilla ice-cream
8 spoonfuls of good-quality or homemade marmalade
To serve, warm the marmalade in a saucepan, scoop the ice-cream into the Yorkshires and spoon the marmalade over.