No-melt chocolate coating on ice cream bars
I have also dabbled in tempering chocolate, but have never been able to get something that you could hold for a while without melting in your hands.  I've also never tried coating ice cream bars.

I think you should be able to do it with a high fat(butter, cocoa butter, coconut oil) chocolate mixture.  It will probably seem like entirely too much fat, but that is going to firm up and become a shell when wrapped around something cold and creamy.  Here's a recipe for "magic shell" (I'm sure that is actually trademarked by Hersheys) that that goes something like 2:3 cocoanut oil to chocolate.  That should give you something that resists dripping down your hand.

Then again, you could always just make ice cream pops instead.  Just shove a popcicle stick in it and you have clean hands, but that's not what you asked.