Bake this irresistible "Soft Serve" Vanilla Ice Cream at home. Made with gallon milk, vanilla instant pudding, sugar and vanilla flavoring. Easy step-by…
This "Soft Serve" Vanilla Ice Cream relies on simple, everyday ingredients such as gallon milk, sugar, (8 ounce) cool whip and vanilla flavoring. It comes together quickly and makes 4 servings, at about 488 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 "Soft Serve" Vanilla Ice Cream 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