Dessert from a girl following vehicle (7)
I believe the answer is:
caramel
'dessert' is the definition.
(caramel matches up with the definition dessert)
'a girl following vehicle' is the wordplay.
'girl' becomes 'mel' (short for Melanie).
'following' says to put letters next to each other.
'vehicle' becomes 'car' (car is a kind of vehicle).
'a'+'mel'='amel'
'amel' put after 'car' is 'CARAMEL'.
'from' acts as a link.
(Other definitions for caramel that I've seen before include "Toffee-like sweet" , "Soft toffee" , "Chew candy" , "Chewy sweet - burnt sugar" , "Dark brown substance" .)