One of the draw backs of no longer using the old style headlights. They used to produce enough heat from the quartz filament to warm the glass enough to keep it from freezing.
This would be nice, but also costly and for a very limited user base. Perhaps get a bottle of some kind of antifreeze window washer fluid (rain-x?) that you can spray the lights down with when it is a problem?
Definately... trying to remove ice very well will scratch the lenses... could be air heat from the cars heater... don't really know how to do it, but it's a clear need...