Halevi,
If everyone without exception agrees voluntarily to abide by just about ANY ideology even Islam it would be Utopia. No one would ever violate it in any way serious enough to cause much more then the equivalent of a traffic ticket and there would be no crime.
The question of the OP was not talking about a magical society like the one you are picturing, if in this day an age a theocracy based on Torah law was established in modern day Israel by a takeover of the government the theocracy would look a lot more like ISIS then any of the countries we like living in.