Coffee Ice Cream (Soft Serve) is a delightful, creamy treat that promises to awaken your senses. The recipe combines the rich flavors of coffee and chocolate with the smoothness of banana, creating a soft serve that’s both refreshing and indulgent.

For those looking to mix things up, feel free to swap the nonfat milk with almond or oat milk for a dairy-free option. If you need a sugar alternative, consider using a sweetener that measures like sugar, but do check for the right conversion rates. Also, be mindful of any allergies if you’re serving the to a crowd, especially with the gelatin and dairy ingredients.
Ice Cream & Frozen
Coffee Ice Cream (Soft Serve) Recipe
Ingredients
- 4 cups nonfat milk
- 1/2 cup fat-free half-and-half
- 2 teaspoons heavy whipping cream
- 5 teaspoons of Knox unflavored gelatin (about 1-1/2 packets)
- 1 cup white sugar
- 1 large banana (frozen)
- 1 teaspoon vanilla
- 1 1/2 teaspoons cocoa powder
- instant coffee granules
- cinnamon
Instructions
- Freeze a large banana overnight in the freezer until solid.
- In a medium saucepan, combine 4 cups of nonfat milk, 1/2 cup of fat-free half-and-half, and 2 teaspoons of heavy whipping cream. Sprinkle 5 teaspoons of Knox unflavored gelatin over the top and let it stand for one minute.
- Place the saucepan over medium heat and stir the mixture until it’s completely smooth. Then, add in 1 cup of white sugar, stirring until fully dissolved.
- Remove the mixture from heat and let it cool in the fridge for a short time, or for a quicker chill, pop it in the freezer for about 30 minutes until it resembles thin pudding.
- Once cooled, stir in 1 teaspoon of vanilla, then mix in 1 1/2 teaspoons of cocoa powder, followed by a sprinkle of cinnamon and instant coffee granules to taste, adjusting the strength to your preference.
- In a food processor, blend the frozen banana until smooth. If you don’t have a food processor, you can chop it up and use a blender instead.
- Combine the banana puree with the cooled mixture, processing until it’s all smooth and well blended.
- Pour the final mixture into an ice cream machine and churn for 20 to 25 minutes, or until it reaches your desired thickness.
- Serve and enjoy your homemade coffee soft serve.
Part of our Ice Cream & Frozen Dessert Recipes collection — Part 1 of 3: