Vanilla Ice Cream Bars

Creamy, milky, and delicately vanilla-flavored, these homemade Vanilla Ice Cream Bars are an easy frozen treat made with heavy cream, milk powder, condensed milk, and a touch of cornstarch. The result is a smooth, rich ice cream with a soft, satisfying texture that freezes beautifully into convenient bars.

Recipe Information

• Prep Time: 15 minutes
• Cook Time: 8–10 minutes
• Chilling Time: 30 minutes
• Freezing Time: 6–8 hours
• Total Time: About 7 hours
• Yield: 6–8 ice cream bars
• Difficulty: Easy

Ingredients

• 160 g whipping heavy cream
• 200 g whole milk
• 35 g milk powder
• 15 g granulated sugar
• 10 g sweetened condensed milk
• 10 g cornstarch
• 2 g vanilla extract

Instructions

1. Make the milk mixture

In a small saucepan, combine the milk, milk powder, sugar, condensed milk, and cornstarch.

Whisk thoroughly while the mixture is still cold to dissolve the milk powder and cornstarch and prevent lumps.

2. Cook until slightly thickened

Place the saucepan over low to medium-low heat.

Cook for about 5–8 minutes, whisking constantly, until the mixture becomes slightly thickened and smooth.

Do not allow it to boil vigorously. The mixture should have a light custard-like consistency.

3. Add the vanilla

Remove the saucepan from the heat.

Stir in the vanilla extract.

Transfer the mixture to a clean bowl and let it cool until no longer hot.

For an especially smooth finished texture, cover the surface directly with plastic wrap while cooling to prevent a skin from forming.

4. Whip the cream

While the milk mixture cools, place the 160 g heavy cream in a chilled mixing bowl.

Whip with an electric mixer until it reaches soft peaks.

Do not overwhip—the cream should remain smooth and creamy rather than becoming stiff or grainy.

5. Combine

Once the cooked milk mixture has cooled to room temperature or is just slightly cool, gently fold it into the whipped cream in 2–3 additions.

Use a spatula and fold carefully to maintain as much air as possible.

The finished mixture should be smooth, creamy, and evenly combined.

6. Fill the molds

Pour the mixture into ice cream bar molds.

Tap the molds gently on the counter to release large air bubbles.

Insert the ice cream sticks.

If you don’t have bar molds, use a small freezer-safe container lined with parchment paper and cut the frozen ice cream into bars afterward.

7. Freeze

Place the molds in the freezer and freeze for at least 6–8 hours, preferably overnight.

Make sure the molds remain level while freezing.

8. Unmold and serve

To release the bars, briefly dip the outside of each mold in lukewarm water for 5–10 seconds.

Gently pull on the stick to remove the bar.

Serve immediately.

Chef’s Tips

• Whisk the cornstarch while the milk is cold. This prevents lumps from forming.
• Keep the heat relatively low when cooking the milk mixture so it doesn’t scorch.
• Let the cooked mixture cool before combining it with the whipped cream.
• Don’t overwhip the cream. Soft peaks give the bars a smoother, creamier texture.
• For the smoothest bars, freeze them overnight.
• Avoid repeatedly opening the freezer while the bars are setting, as temperature fluctuations can encourage ice crystals.

Flavor Variations

Strawberry Ice Cream Bars

Blend 60–80 g strawberry purée into the cooled milk mixture before folding it into the whipped cream.

Chocolate Ice Cream Bars

Add 15–20 g unsweetened cocoa powder to the milk mixture along with the milk powder.

Cookies & Cream

Fold 50–60 g crushed chocolate sandwich cookies into the finished ice cream mixture before freezing.

Mango

Fold 60–80 g mango purée into the cooled mixture for a tropical version.

Vanilla Bean

Replace the vanilla extract with ½ vanilla bean, scraping the seeds into the milk mixture while heating.

Storage

Keep the frozen bars in the molds or transfer them to an airtight freezer container or freezer bag.

For the best texture and flavor, enjoy within 2–3 weeks.

Keep the bars well covered to prevent freezer burn and absorption of other freezer odors.

Serving Suggestion

For a bakery-style finish, dip the frozen bars in melted chocolate and immediately sprinkle with chopped nuts, shredded coconut, cookie crumbs, or colorful sprinkles. Return them to the freezer for 10–15 minutes to set the coating.

The Result

These Vanilla Ice Cream Bars are creamy, milky, lightly sweet, and fragrant with vanilla, with a texture that’s much richer and smoother than a basic frozen milk mixture. They’re perfect for keeping in the freezer whenever you want a simple homemade ice cream treat.