With an ICO, you lock up some of that money supply in speculators' wallets, in exchange for the initial capital infusion. As the normal use-value price of the currency rises, they will sell and take their profits, injecting money back into the economy.
The wrinkles right now are that a.) nobody really knows how to value a currency with few-to-zero users and b.) a lot of these projects didn't deliver. That meant that a number of people lost their shirt in 2017 (actually, I suspect that number is less than commonly reported: I think most ICO investors were early Bitcoin and Ethereum hodlers who had already cashed out their initial investment into the bubble and then had some play money to diversify). But if you can pick winners now, when all the initial hype has disappeared, you stand to make a fair bit as people start using these platforms for real commerce.
The ICO is a way to raise money out of chumps without giving anything in exchange, but it's not more efficient, faster or better in any way than an IPO. It's just shadier.