There’s nothing quite like a cone of Homemade Vanilla Soft Serve Ice Cream on a hot summer day. Creamy, dreamy, and packed with that signature vanilla flavor, this recipe brings the charm of the ice cream truck right into your kitchen. The first time I made it for my family, the look of surprise and delight on their faces was priceless—no one could believe it hadn’t come from a fancy ice cream machine!
This no-churn soft serve is perfect for birthdays, barbecues, family movie nights, or just when you want to indulge in a nostalgic dessert. It only takes a few ingredients, a little mixing, and a bit of patience while it chills to create something truly special. And because it's homemade, you can tweak the flavor, add mix-ins, or swirl in ribbons of your favorite sauces for a totally unique treat.
Once you try this easy recipe, it might just become your go-to frozen dessert year-round.
Why You’ll Love Homemade Vanilla Soft Serve Ice Cream
- No machine needed: Just mix, freeze, and enjoy—no churning required.
- Ultra creamy: Whipping cream and sweetened condensed milk create a luscious, silky texture.
- Classic vanilla flavor: Pure vanilla extract delivers a timeless, sweet aroma and taste.
- Customizable: Add your favorite mix-ins, like cookie crumbles or swirl in fudge, caramel, or jam.
- Make-ahead: Whip it up ahead of time and store it until you’re ready to serve.
- Family-friendly: A favorite for kids and adults alike, perfect for gatherings or afternoon treats.
- Budget-friendly: Costs less than store-bought soft serve or ice cream shop prices.
- Versatile: Great for cones, sundaes, floats, or dessert toppings.
Ingredients You’ll Need
- 2 cups cold whipping cream (heavy cream works best for rich texture)
- 1 can (14 oz) sweetened condensed milk (adds sweetness and helps with texture)
- 1 teaspoon pure vanilla extract (or vanilla bean paste for added richness)
- ½ cup whole milk (adds lightness and scoopability)
Step-by-Step Instructions
- Whip the Cream:
- In a large mixing bowl, use a hand mixer or stand mixer to whip the cold whipping cream on high speed until stiff peaks form. This should take about 3-5 minutes. It gives the ice cream its light, airy texture.
- Mix the Base:
- In a separate bowl, whisk together the sweetened condensed milk, vanilla extract, and whole milk until smooth and well combined. This forms the sweet, flavorful base of your soft serve.
- Fold and Combine:
- Gently fold the whipped cream into the vanilla milk mixture using a rubber spatula. Take your time to fold carefully so the mixture remains light and fluffy. Mix until there are no visible streaks of cream.
- Freeze the Soft Serve:
- Transfer the finished mixture to a loaf pan or airtight freezer-safe container. Smooth out the top with a spatula.
- Cover tightly with plastic wrap or a lid. Freeze for 4 to 6 hours, or until firm but not rock-hard. If desired, stir once or twice during freezing to prevent large ice crystals from forming.
- Serve:
- Remove from the freezer and let sit at room temperature for 5–10 minutes to soften slightly. Scoop into bowls or cones.
- For that iconic soft serve swirl, transfer slightly softened ice cream to a piping bag fitted with a large star tip and pipe into cones.
Serving and Storage Tips
- Serve with toppings: Make it a sundae with hot fudge, sprinkles, chopped nuts, or fresh berries.
- Store airtight: Always keep in a tightly sealed container to maintain flavor and texture.
- Best within a week: Enjoy within 5–7 days for best quality.
- Re-soften gently: Let sit at room temp for 5–10 minutes before scooping for the perfect soft texture.
- Fun presentation: Serve in waffle cones, bowls, or layer into parfaits with fruit and cookies.
Helpful Notes
- Flavor variations: Try almond extract, mint, maple, or coconut flavoring for a twist.
- Mix-in ideas: Stir in mini chocolate chips, crushed cookies, brownie bites, or fruit compote just before freezing.
- Swirl options: Drop dollops of fudge, peanut butter, or caramel into the mix and swirl gently with a knife before freezing.
- Dairy-free version: Use full-fat coconut cream in place of whipping cream and sweetened condensed coconut milk.
- Serving suggestion: Pair with warm brownies or use as a topping for apple pie.
Frequently Asked Questions
- Can I make this without whole milk?
Yes, you can substitute with 2% milk or plant-based milk, though it may slightly affect the texture. - How do I achieve the soft-serve swirl look?
Let the ice cream soften for a few minutes, then pipe it through a pastry bag fitted with a large star tip. - Can I add fruit puree?
Absolutely. Swirl in a few tablespoons of thick fruit puree (like strawberry or mango) before freezing. - Can I use this as a base for chocolate or coffee soft serve?
Yes! Add 2 tablespoons of cocoa powder or 1 teaspoon instant espresso powder to the sweetened condensed milk mixture. - Is this ice cream scoopable straight from the freezer?
It's firmer than soft serve straight from the machine, so let it sit for 5–10 minutes before scooping or piping. - Can I double the recipe?
Yes, this recipe doubles well. Use a larger container or divide between two pans.
Final Thoughts
Homemade Vanilla Soft Serve Ice Cream is a timeless dessert that brings a touch of magic to any moment. It’s simple to make, rich in flavor, and endlessly adaptable to your favorite tastes and toppings. Whether you’re enjoying it poolside, at a family dinner, or straight from the container at midnight, it’s a sweet reward you can feel proud of making yourself. Give it a try and experience the nostalgic joy of soft serve from the comfort of home!
Homemade Vanilla Soft Serve Ice Cream
Ingredients
- 2 cups cold whipping cream
- 1 can 14 oz sweetened condensed milk
- 1 teaspoon pure vanilla extract
- ½ cup whole milk
Instructions
- Whip cold cream to stiff peaks.
- In another bowl, whisk condensed milk, vanilla, and whole milk.
- Gently fold in whipped cream until fully combined.
- Transfer to loaf pan or container, smooth top, and cover.
- Freeze 4–6 hours. Let soften before scooping or piping.
Notes
- Add mix-ins like chocolate chips or fruit compote before freezing.
- For swirl effect, pipe through a star tip when softened.
- Try almond or mint extract for flavor variation.
- Store airtight and enjoy within a week.
- Use coconut cream for a dairy-free option.
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