Are there any good ice cream parlors in Staatsburg?

No, unfortunately. There are no ice cream parlors in town, at least to my knowledge -- you'd have to go north to Rhinebeck (I know there's one or two along Route 9) or south to the more central parts of Hyde Park, but the ones in Hyde Park are just chain establishments like Stewart's or Dairy Queen. In Rhinebeck there was this ice cream place I used to pass all the time called Del's and I've been curious; I hear it's good.