I ate my wife's ice cream and I feel bad.
Why do you feel bad for eating her ice cream?
I am disappointed in myself for not being able to control my actions.
It is not good to eat food that belongs to other people, it will upset them. They will be angry at you and not want to be around you.
I'm sure she will forgive and forget.
Even still, in the future I hope you will only eat food that you have bought yourself so your wife doesn't get mad at you.