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New Yorkers 1st Choice
Best of Milpitas

Ice cream

A cold scoop of ice cream is the only way to satisfy a sudden sugar craving.

Based on 456 Opinions
+453
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Updated May 2026
01
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Ice cream shop

Spacious shop offers fish-shaped waffle cones and taiyaki filled with rich custard or Nutella. Soft serve is creamy with unique flavors like black sesame and matcha. Clean interior has minimal seating, mostly outside on benches.

Soft serve stands out with smooth texture and creamy quality. Unique presentations include ice cream in a fish-shaped waffle cone and fillings like black sesame and dulce de leche.

People are saying

"The soft serve ice cream is so smooth and creamy."

"The Japanese food, especially the taiyaki, has a sweet, creamy filling."

"It's a shame there's hardly any seating for enjoying these desserts."

Good to know

1

Parking is tricky on Barber Lane, so plan accordingly.

2

Most chairs are not available for use, limiting seating options.

3

They serve desserts in counts of 2 or 5 only.

02
Smoove Ice Cream (Milpitas) image 1

Small shop offers a cozy atmosphere with bright, fun decor. Unique ice cream flavors like Cheetos and rose lychee delight visitors. Pair treats with milk tea floats or enjoy ice cream cakes for take-home.

Unique flavors like Cheetos, rose lychee, and cookies & cream stand out. Creamy texture pairs well with options like milk tea floats and croffles. Ice cream cakes and small tubs are available for take-home.

People are saying

"I thought the ice cream flavors here were amazing and unique."

"The ice cream portions here are unbelievably large."

"There's a big parking lot, making it easy to visit."

Good to know

1

Parking is easy in the plaza, making it convenient to visit.

2

Expect long lines during peak hours, with waits of up to 20 minutes.

3

A small scoop costs over $5, with larger options around $8.

03
Fosters Freeze image 1
Ice cream shop

Classic American drive-in offers a nostalgic vibe with thick soft serve ice cream and crinkle-cut fries. Enjoy an old-fashioned, rich vanilla soft serve with chocolate dip in a clean, welcoming spot. Prices stay affordable, making it a genuine throwback experience.

Soft serve ice cream here is thick and creamy, with a chocolate dipped option available. The vanilla soft serve stands out as old-fashioned and rich, often paired with a variety of toppings.

People are saying

"The ice cream here is thick, creamy, and totally delicious."

"I loved the old-fashioned burgers and crinkle fries."

"It's like stepping into a vintage 90s burger joint with old school food."

Good to know

1

Expect a wait because they make everything as it is ordered.

2

The extensive menu includes options for everyone, including vegetarian choices.

3

Parking is plentiful and easily accessible.

04
Cold Stone Creamery image 1
Ice cream shop

Ice cream shop shines with custom ice cream cakes and creamy coffee flavor. Toppings like crunchy toffee and peanuts add texture. Prices are higher but atmosphere suits those who love custom desserts.

Custom ice cream cakes stand out with fresh ingredients mixed right in. Coffee-flavored ice cream offers a creamy, rich taste that works well in a cone or larger size.

People are saying

"The ice cream here is really good and delicious."

Good to know

1

You can customize your dish with a variety of toppings.

2

Prices may be higher than average for similar offerings.

3

Check for any daily specials that might lower costs.

05
Xing Fu Tang image 1
Bubble tea store

Small, calm space offers fresh handmade boba cooked on display and a traditional fortune box for fun. Soft serve blends strong milk tea flavor with warm brown sugar boba, creating a creamy, chewy treat. Clean, modern decor invites relaxation while waiting.

Soft serve features a strong milk tea flavor paired with warm brown sugar boba. The boba milk tea soft serve blends creamy texture with chewy boba in a plastic cone.

People are saying

"The bubble tea here is worth trying, especially the fresh-made boba."

"The fortune telling activity here is a fun way to pass the time."

"The boba ice cream here has perfectly chewy, fresh boba."

Good to know

1

Expect long wait times during peak hours, especially on weekends.

2

Parking can be challenging; arrive early to secure a spot.

3

The shop does not allow customization of drinks during busy events.

06
Jun Bistro image 1
Asian fusion restaurant

Asian fusion spot shines with forest-themed decor and cozy booths. Dimmed lighting sets a romantic vibe while tables sit close for a warm, community feel. House-made truffle ice cream and unique flavors like jasmine delight ice cream lovers.

Truffle ice cream stands out as a house-made specialty. Staff offer free scoops and samples, including unique flavors like jasmine and mint beef.

People are saying

"The food here is packed with umami and fragrant sauces."

"I found the Yunnan cuisine here to be authentic and flavorful."

"The jasmine ice cream here is excellent."

Good to know

1

Jun Bistro updates its menu frequently with new dishes for tasting.

2

The noodles at Jun Bistro could be refilled for free.

3

The portion size is small for the price.

07
The Great Mall Milpitas Outlet image 1

Large, round indoor space offers spacious shopping and a lively atmosphere. Family fun shines with a trampoline park and kids' play zones. Unique ice cream tacos with candied fruit add a tasty twist to desserts.

Ice cream tacos stand out with their unique twist and come with candied fruit. Options include shakes and smoothies, plus desserts like hot brownies with vanilla ice cream.

People are saying

"This mall is huge and has a wide variety of stores."

"The food court offers a variety of options from different cuisines."

"It's a good place for ice cream and dessert."

Good to know

1

On Sundays, there is a farmer's market or pulga by Saks.

2

The parking lot gets full quickly, especially on weekends.

3

The mall has a mix of outlet and regular stores.

08
Baskin-Robbins image 1
Ice cream shop

Offers unique flavors like triple mango and pralines and cream with excellent quality ice cream. Atmosphere is casual and relaxed. Service can be slow, with a 10-minute wait and occasional distractions.

Ice cream tubs come in a variety of flavors served at a perfect temperature. Service can be slow with a 10-minute wait and employees sometimes distracted while serving.

People are saying

"I loved the pistachio almond ice cream."

Good to know

1

Credit cards and mobile payments are accepted for all purchases.

2

Expect a variety of flavors, including seasonal and limited-time options.

3

The shop maintains a clean environment for a pleasant experience.

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Milpitas, California

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