View from the Bay mentioned Norman's Ice Cream in the Cannery at Fisherman's Wharf.
In addition to sundaes (sauce is made with Belgium chocolate) they also have halo halo.
They have been in business four years and eight months.
Norman's Ice Cream & Freezes
2801 Leavenworth St (415) 346-3046
San Francisco, CA 94133
*** Note: HEAVILY edited on Saturday July 8th at about 3pm thanks to Atomica's post below. I thought Norman made his own ice cream. It is Mitchell's.