Bake this irresistible Coffee Ice Cream (Soft Serve) at home. Made with nonfat milk, heavy whipping cream, unflavored gelatin and white sugar. Easy step…
This Coffee Ice Cream (Soft Serve) relies on simple, everyday ingredients such as nonfat milk, fat-free half-and-half, white sugar and large banana (frozen). It comes together quickly and makes 4 servings, at about 382 kcal each. The step-by-step instructions below are written to be easy to follow, even on a busy day.
Whether you're rounding off a family dinner, bringing a treat to a gathering, or simply satisfying a sweet craving, this Coffee Ice Cream (Soft Serve) delivers. Serve it warm or at room temperature, and add a scoop of ice cream or a spoonful of whipped cream for an extra-special finish.
Updated Jun 30, 2026