My favorite way to bond with my little one is to carry her around with me in a zippered bonding pouch. It's a great chance to be together and I can interact with her in the process. Sometimes I'll wrap her in a small blanket and hold her (kind of like a baby) and sing to her. Washcloths are a perfect size for this but you just have to make sure their nails don't get snagged.
As far as biting, I can totally relate. And yes, I've shared ice cream cones with her before (not so wise, but it sure was fun). I've had my glider for over a year now and she still bites from time to time, although it's more of a nibble now. While offering her some yogurt on my finger one day, she licked several times and then bit my finger really hard. Confused, I looked at some posts on this forum and learned that in the wild gliders will lick sap from trees and then bite the bark and more sap will come out. This makes total sense and it's possible your glider was biting, thinking this would produce more ice cream. Also, I've read that when a glider bites, it's best not to remove your hand because it signals fear (hard not to pull away when you're getting bitten though). My glider knows what "no bite" means. Like a small child, some times she listens...sometimes she doesn't. But consistency does help. Good luck!