Of course there was. There will be the wrapper, the stained lips/tongue of whoever eats it, the stick, and the memories of everyone involved regarding that popsicle.
Now, say you went around, and you got rid of all this evidence. You wiped off the stains, collected the wrapper and stick in a bag, and "deleted" everyone's memories of these things, the popsicle, and your actions.
Now you destroy the stick, wrapper, and the rag used to clean up the stains, literally, I mean, making all of the matter just "go away". (Thought experiment here, so bear with me on the unrealistic bits.)
No one but you would ever know that the popsicle existed. If you died, then, your memories would be gone. Effectively, no one is aware that that popsicle ever existed, and indeed, there is no evidence to the contrary, not even eyewitness accounts.
Did it ever exist?
Yes, of course, in a physical way, but no, not in any meaningful way. At this point, whether or not the popsicle ever did exist is really quite a moot point.