I have to go with ice cream. I've had gelato one time, and it wasn't very good. That Baja Blast one at Taco Bell was a huge disappointment. I love the soda. I hated the gelato.
I don't think I've had gelato before, so I voted for ice cream! Ice cream isn't a go-to sweet treat for me since unless I'm eating it in a bowl, it either melts all over me or makes my hands too cold, but it's still delicious! I'm pretty sure I'll like gelato as well and definitely want to try it eventually, though I think I'll still prefer frozen yogurt over both.
To be fair.. I love both.. SOOOO much. But ice cream is probably my preferred and favorite because there's so many flavors ice cream can get away with, that are really tasty!
Gelato is a lot less available where I live, but I definitely prefer it over regular ice cream! I like the texture of gelato a lot better and the stronger flavor, but of course I think regular ice cream is still really good too!
While I have known of the existence of gelato for a good number of years, I've never tried it yet. I'm interested in trying it, but I'll have to track some down first.
I've only tried gelato once or twice before. So my bias is definitely towards ice cream. Besides, gelato can only be bought on specialty shops at the mall, unlike ice cream which is easily available even in small neighborhood stores.