The first step on the way to “pretty” scoops is the right texture of your material. As you noticed, with ice cream straight out of the freezer, the results are somewhat random, your technique probably involves a lot of hard work and you are basically “prying lose” your servings. If you’d ask your local ice cream shop about the temperature of their product, you’d notice that their display cases are usually set to something between -7 C and -11 C (rarely colder), depending a bit on their recipes. Your home freezer is probably set to at least -18 C, likely lower. At -24 C, your ice “cream” is more likely an ice “brick” - perfectly fine for long-term storage, but a disaster for scooping.
So how do you get to the desired temperature range? Not on the counter, please. The outside melts when the middle is still solid. And you get the “off” or “rubbery” texture when you refreeze molten ice cream. Instead, put the container into your fridge until it’s soft enough, but not thawed. The timing depends on the temperature settings of your fridge, the size of your container and the brand of ice cream - you’ll have to experiment a bit. I’d probably check after twenty to thirty minutes. (Sometimes a manufacturer will add a hint on the carton.) Once the texture is right, you can use your favorite tool to portion the ice cream, for spheres, I like the kind of scoop that you also use to portion cookie dough - the kind where you push a the handle and a little wire-thingy scrapes the bowl of the scoop. If you want to measure, that’s probably the easiest model.
A few remarks on food safety:
For safe storage, you need temperatures below -18 C. The display cases at the ice cream shop are like the cases at a bakery - to keep the product safe for “immediate” consumption. They will not have a batch sitting at that temperature for weeks. If a container isn’t sold after a reasonable time (I would have to research the exact values), it must be discarded.
Temporarily having the ice cream at higher temperatures is acceptable, but try to keep it as short as possible - when you are done with serving your ice cream, put it back in the freezer immediately. Don’t let your ice cream melt and re-freeze, especially repeatedly, parts of it may have been in the “danger zone” (above 4 C) for too long to be still safe.