i know people usually use candy melts to dip icing but will icing do the trick?

Cake pops are as fun to make as they are to share, and Betty has many recipes to choose from!  Agreed, candy melts or coating is used most of the time, since a smooth shell is easily formed and it keeps the inside moist for a longer time.  Also, the shell makes it more 'kid-proof' (less messy).  Give melted frosting a try, as answered in an earlier question.  I'd expect the melted frosting to be thinner, so you might have to coat the pops twice for a smooth finish (or roll them in something fun, like sprinkles or nuts).  Have fun!