50 Best Ice Cream Shops near Mill Valley

“Loved this froyo and ice cream spot! We were on our way to the beach and wanted something sweet to eat and this was the perfect place. The amount of different flavors and toppings was great and they even let you pick between traditional ice cream and frozen yogurt. The staff was also very friendly and seemed super layed back. Definitely coming back when I’m in the Mill Valley area!

Parking: This place is always pretty busy but there’s a free parking lot next door, just check the sign because there are some times when you aren’t allowed to park there.“

“Iman the owner is amazing! It's a charming and incredibly delicious menu! I grew up in France so I know a good crepe! I ordered the Peach, Brown Sugar and Butter crepe with Buffalo ice cream. The crepe was crispy, crunchy, light and scrumptious; plus it had a salty sweet delicate yumminess. The buffalo soft serve addition was unbelievable- rich and creamy and different than anything I've had. Will return as soon as possible!! 🎉🙌🏼🥰🎉🥳“

“Small shop, cash only, full of heart.

The owner is very nice and is very generous with portions, two scoops in a cone was $4! Green tea was a standout, airy and creamy. Unfortunately, they were out of a lot of the flavors when I went, but they have a lot of unique ones as well as classics that I’d love to come back and try.

Hard to find places like these anymore, don’t miss out!“

“Marshmallow fluff;) Loved the Milkbomb sandwich! Will definitely go again;)“

“Historically best ice cream in SF!“

“Oh man, where do I even start with Salt & Straw? This place is like if a rogue alchemist snuck into a dairy farm and started experimenting with forbidden elixirs. I strolled in with high hopes and emerged victorious with a milkshake that’s basically liquid gold: sea salt caramel as the silky base, crowned with two scoops of their olive oil ice cream. Olive oil in ice cream? It sounds like a madcap plot twist, but it delivers; creamy with a whisper of earthy savoriness that dances with the caramel like old flames rekindling. Each slurp was a symphony of rich, balanced bliss. I felt like I’d unlocked a secret level in the game of desserts.
But wait, the drama unfolds: the straw. And hey, “Straw” is literally in their name... talk about irony! This biodegradable bad boy decided to split clean down the middle quicker than a celebrity couple in tabloid headlines. One moment it’s heroically tackling the thick shake; the next, it’s in two pieces, forcing me to improvise like a survivalist in the wilderness. Ended up tilting the cup back like I was toasting the gods. Pro tip: pack a backup straw forged from adamantium, or just lean into the mess.
Even with the straw’s split-second betrayal, this was an epic win. Salt & Straw, you’re the flavor wizard I didn’t know I needed. 5 stars, no notes, because who needs perfection when you’ve got pure, chaotic joy? 🌟🌟🌟🌟🌟“

“fabulous! please open another in the San Jose area. great service..the way they encourage you to taste while waiting in line...loved the various, different flavors“

“Yummm. Try the sf cheesecake and the bubbly Texan“

“We ordered Hot Brownie Fudge Sundae which was utterly delicious. The Hot Cocoa classic was good as well. The place was packed, so we waited for them to clear a table for two. You place your buzzer in the middle of your table, and someone brings your order.

Be warned that the prices are really high - nearly $19 for one sundae! This is a major tourist trap, in California, and you are paying for, well, the experience.“

“Delicious Filipino Ice Cream shop that’s tucked away across from Blue Mermaid. The cutest and sweetest owners and delicious ice cream at such a low price. This is a local shop I would recommend and support. Definitely coming back here when visiting SF in the future.“

“Yummm. Try the sf cheesecake and the bubbly Texan“

“The most delicious, fresh, and hand-crafted gelato I’ve ever tasted. You must try! Thank you Philmore!!! Can’t wait to come again!“

“I think there are maybe 3 vegan places that serve ice cream in the whole of bay area, and this only one in Marin. It was a warm day and wanted to try this place on my way back to east bay. The place was cozy with plenty of seating and decent amount of parking. The lady serving there was super nice. I got a waffle cone with strawberry milk and salted pistachio scoops with sprinkles and caramel toppings. It was super delicious. Updated from previous review on 2025-08-17“

“Fantastic spot with unique Sundaes, shakes, malts, and make-your-own ice cream sandwiches. Loved the cherry & crème fresh with cornmeal cookies!“

“Da Giuseppe Nardoni: fantastici cannoli cosi in Californiana non li mangi, con ricotta fresca siciliana“

“Happiness in a cup. And a cone 😁“

“Best hot chocolate ever. Definitely trying the Gelato next!“

“Unique and exquisite homemade ice cream, original, tasty and so much more!😍 Don't hesitate to visit their cute shop and try them all!“

“If this is not a stop on our yearly vacation to Inverness and Point Reyes then it becomes a problem fast. My wife and kids look forward to the ice cream here every year. They always have a great selection to choose from and it's always fresh. If there's a line which there often is, it's worth the wait.“

“Loved the crepes and service!

Crepes were soft and fluffy. We got #28 which had coffee icecream and pudding. Was a unique combo but both flavors paired well together.

The bear face was adorable (⁠◍⁠•⁠ᴗ⁠•⁠◍⁠) ʕ⁠´⁠•⁠ᴥ⁠•⁠`⁠ʔ“

“One of our favorite spots in the Richmond. Sean and Alice are as terrific as their ice cream!“

“Found this place walking by and was not disappointed!!! Good fresh cookies. The ice cream was delicious. I see some people complaining that the sandwiches aren't huge, but they're a good size and delicious. Super long line because one poor girl working by herself but she did amazing. Definitely a good dessert“

“Their service and their soft serve is amazing! I always stop by their store when I'm in the area! 😀“

“gluten free, vegan, coconut based froyo! yum!“

“Yo! KISS OF MATCHAAAAAA AH!

Get you matcha fix here and some excellent desserts!
The croffle is great for a quick bite or if you crave a drink, I got the Hojicha frappe.. My god, thinking about it gets your taste buds watering... Hah! Flavors are really on point, I have not gotten one drink where I was disappointed or felt like there could have been anything missing.

If you want something crazy, that parfait looks hella good! Will need to try that next time!

The vibe inside is very calming, the smell of tea will hit you in the face with a crazy impact like a mother throws a sandal in Yo face for not getting good grade for Yo test... Very impactful and stunning!

Thank you KISS OF MATCHA!“

“Nice vibes, good pizzas, great meatballs. Small and focused menu, easy does it, with a few creative pizzas. Quick service, friendly floor staff. Busy but still possible to get a reservation or walk in on a Friday night. The glass of wine I got ended up not being my taste, but they have a narrow and local selection that seems decent.“

“I used to get Yomie’s in SoCal, and it was a yummy alternative to boba when I wanted something different. The yogurt smoothies at the North Beach location taste pretty similar but seem to be blended a little thicker. I got the passion fruit smoothie with less sugar and purple rice as a topping, and it was very filling. Definitely recommend as a drinkable snack.“

“One of the last gems of San Francisco, a treasure to be remember as the times change and people become more picky. Those who don't know this history should know that Gelato Classico was a chain that has been around since the 80s slowly dissolving until this was the last location left in downtown. I hope people start to appreciate the history of this great city as it is slowly eroded away by time and gentrification. Some of the best gelato you can get in America hands down. Please go and support this business and Trader Vics/Cordon Blue if you are a local or a tourist! Keep the memories alive, you wont regret it!“

“Servers are fun to talk with and to learn about the best treats!“

“It’s beyond wonderful. Tony spumoni, pistachio, ginger, too too good“

“Sandwiches are fantastic! Generous portions of fresh ingredients made to order. Fully stocked pastry case with classic and specialty treats! Friendly staff, great vibe,, totally affordable menu. LOVE!“

“The Original Ghirardelli Chocolate & Ice Cream Shop at Ghirardelli Square is a must-visit for any sweet lover in San Francisco. We stopped by and treated ourselves to their famous hot fudge sundae—it was rich, indulgent, and absolutely worth it. The shop has a nostalgic charm, and you can watch them make chocolate in-store.

Tip: The prices are definitely on the higher side, but the portions are generous and the quality is top-notch. It can get crowded, so try to visit during off-peak hours for a shorter wait. A delicious and iconic San Francisco experience!“

“So yummy ! Choose any cookies and any ice cream flavor.“

“Damn, this is my favorite ice cream place of all time. The staff are always super friendly (who wouldn’t be when you’re surrounded by such delicious ice cream all day) and their flavors are amazing. They do this thing where they combine milky custardy ice cream with sorbet like fruity flavors like this vanilla custard and strawberry lemon ice I had tonight and it’s pure magic. They also always non dairy flavors so my girl can have some too.

Thanks guys, you rock.“

“During a recent visit to Sausalito, I stopped by Lappert’s Ice Cream, and it absolutely lived up to its reputation. There was a bit of a line, but it moved steadily—and the wait was well worth it.

I tried their Ube ice cream, and it was exceptional. The flavor was rich, authentic, and subtly sweet, with a creamy texture that made every bite satisfying. It’s clear they use high-quality ingredients and put care into their flavor profiles.“

“You make my birthday girl so happy, especially the Unicorn. Make her birthday for this year sweet...it really makes her enjoy this lonely birthday becomes a joyful one“

“I love their tart yogurt. I wish they had more tart fruit flavors. I always get ORIGINAL flavor, but sometimes they have gauva*orange sorbet that is tart&tasty. Staff is very nice & helpful. They have a rewards program. Public transit is close by. This is inside a HUGE mall on 2nd floor. Auntie Anne's pretzels are same floor. There is seating area close by. & On the lower level there is 2 food courts & eating area.“

“What a delicious treat! My brother brought us to Golden Gate Park and as we were walking around, we came across the Twirl & Dip food truck. My brother said it was one of his favourite places to get ice cream, so we had to try it. I got the TCHO-dipped banana with sprinkles! The chocolate layer was thick 😋 It was the perfect dessert for a sunny day ☀️

Visited on May 26, 2024“

“好味好味，綠茶同芝麻都好味。“

“I love this classic frozen yogurt shop. They always have great new flavors (as well as the classics) and the best toppings whether you are a candy or fresh fruit fan. The staff is always friendly and helpful.“

“I loved working with Elizabetta for my birthday cake. She was super easy to communicate with and perfectly nailed my barbie cake fantasy complete with a quote from the movie. The cake itself was a work of art but the taste, omg, all my friends were floored. I've also been able to find her slices at Falletti Foods and love all the flavors. I do, however, go crazy for her basque cheesecake. I could have a whole one in one sitting. So luscious, creamy and delicious!“

“They are clean and organized and the prices are fair, especially being in the tenderloin where the struggle and homelessness is really the over all attraction. But one employee just doesn't seem to be happy. He doesn't smile is unfriendly and somewhat rude!! And the other one is completely the opposite. But over all I enjoyed there food... And definitely there milkshakes are a must have. I will be a consistent customer since I'm new to the area!“

“Came in later at night for some ice cream and was served quickly a with a smile. The ammeretto flavor was great! I wish I got a picture of our ice cream but it was gone before I could think about it!

Kid-friendliness: Great place to take a kid!

Wheelchair accessibility: Right walkway but is manageable“

“First time having shaved ice cream. It was Tachata which is cinnamon vanilla. Texture and taste was outstanding.“

“Delicious rolled ice cream with free toppings!!! Yummm!!!“

“I They carry Mitchell's ice cream, and the selection is decent with fair prices. I got a triple scoop for just $9.99, choosing peanut butter chocolate chip, strawberry, and cherry flavors. Each scoop was delicious and creamy. The prices are very reasonable for such high-quality ice cream. I will definitely be returning for more! Five stars.“

“Toy Boat not only has delicious ice cream and a grand selection of Jane products, and an excellent cup of coffee; they are also incredibly cute and welcoming! The perfect place to bring the family!“

“Mangonada, nieve de garrafa, raspados, bionicos, tostilocos, tejuinos“

“Molto buono e la proprietaria molto simpatica“