Question

why do ice cream appears colder than water at the same temperature

Answer 1

Ice cream and water are not at same temperature..... It's the environment around them that is at same temperature.
Ice cream is at much lower temperature than water. So when ice cream comes in contact with your body, it extracts more heat due to larger temp difference b/w ice cream & your body as compared to that b/w water & your body.
Hence according to Fourier's law of heat transfer (Q=h*A*(Temp of body - Temp of environment), higher the temp difference more is the heat lost. Thus you feel ice cream to be more colder.

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Answer 2

It's the environment around them that is at same temperature. Ice cream is at much lower temperature then water. so when ice cream comes in contact with your body, it extracts more heat due to larger temperature difference between ice cream and your body as compared to that between water and your body.