But wouldn't the server ask, "Who ordered a juice with ice"? But that sounds rather lengthy in the context. The waiter/server could just say, "Juice with ice?" as he brought the tray of drinks to the table.
"Ice" has two meanings in everyday English. It means firstly frozen water. In this case, it is "glacio" in Esperanto. It means also a frozen mixture of fruit juice or flavored water and sugar.. In this case, the translation is "glaciaĵo". Now, an "ice cream" is a similar mixture, but with addition of milk or cream. Actually, most people do not make the difference between the two :-) and "glaciaĝo" is the appropriate translation for all these sweet icy preparations.