The blessings go in order of precedence. There's an extremely cool website which contains, among many other items, the various blessings over different types of foods.
http://www.hanefesh.com/edu/Blessings_on_Foods.htmThe blessings are called, in order of precedence:
hagafen (applies only to grapes, grape juice, or wine, and only on Shabbat; otherwise even those products take the blessing over ha-adamah, fruit of the earth, instead of the blessing for hagafen, fruit of the vine)
hamotzi (bread)
m'zonot (sustenance)
ha-eitz (fruit of the tree)
ha-adamah (fruit of the earth; includes bananas, avocados, and popcorn)
shehakol (everything else)
The blessing you're looking for is the she-hakol blessing (Blessed are you, Hashem our God, sovereign of the universe... by whose word all things were caused to be). This is the one for ice cream, cocoa, Jell-O, pudding, soft drinks, and a whole lot of other items that don't fit into the other five blessing categories.
Also, if you're not sure what something is, it gets the shehakol blessing. Also, even if you know what it is, but it's chopped or ground or pureed into something that isn't instantly recognizable by sight as being what it started out (such as applesauce or tomato sauce, which don't look anything like apples or tomatoes), it gets the shehakol blessing. Also, soups and stews get the shehakol blessing, even if you can clearly see the corn, peas, beans, okra, and/or whatever -- because it's all a mishmash of stuff, heterogeneous in nature, so it's not identifiable as ONE separate thing.