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? 🌟🌟🌟🌟🌟“

“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.“

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

“My favorite crepe place in Japan Town!!!

I love how much they pay attention to the presentation of the crepes especially when they add cute little faces on each of them. I've been coming here for years now and I can say that they have always made their crepes still as good.

I always get the nutella and strawberries crepe with chocolate ice cream, whipped cream and cornflakes, but they have a lot of different combinations and you can customize it yourself too!“

“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“

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

“Happiness in a cup. And a cone 😁“

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

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

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

“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.“

“WOW! This place knows how to do matcha!! Their azuki bean matcha latte was strong and bitter, slightly sweet, and very creamy. And of course the soybean powdered croffle (croissant + waffle) was delicious, and the matcha coated mochi-jelly was SO good. The inside of this place was really itty bitty, but they had seating by the window (no bathroom, but the library nearby has one). The service was nice and fast, and the staff was so friendly. The prices were a bit high, but you get what you pay for! They also had dairy free milks, I got my matcha latte with oat milk.“

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

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

“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!“

“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! 😀“

“Loved and had the California Cabin last evening, Friday 4/4/25. First time ever tasting Frankie & Jo’s ice cream—and which to my surprise an extremely kind couple in the shop picked up my tab. …My dog, Thank you Trip and Amy so much for treating me to a scoop! And to the founder and her business partner, and their whole creative team for making it! It’s almost like this flavor was designed with me in mind because I love a n y t h i n g (Doug Fir tea for example) with the smell And taste of the sweet outdoors. And it lives up to its description:
“A whimsical smoked vanilla & pine ice cream with bold, delicious black pepper cardamom shortbread cookie throughout.”

But most notably, while I enjoyed the ice cream’s unique flavor and unmatched creaminess, what I love and support the most about this new ice cream maker that hit California, is it’s the brainchild of someone, Autumn Martin, along with her business partner Kari Brunson Wright, and an entire support team—who truly care. Who care about their endeavors in this world and, by extension, their ice cream product being an intentional expression for Good. And let’s go a step farther and call this company what it is: a vital partner in the ever expanding food REVOLUTION, offering delicious-tasting and humane plant-based food that often, as in this case, rival and surpass their traditional Animal-based counterparts. And In my world as a lifelong Animal, and Food Animal advocate, and compassionate-care-focused veterinary nurse— where Animal welfare and health is my ultimate calling and passion— I can’t get behind this company enough! And so, Thank you Frankie & Jo’s for giving me the opportunity to take delight in eating ice cream & the joy in knowing I am not harming other living beings and the planet while doing so.“

“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.“

“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 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!“

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

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

“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.“

“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!“

“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.“

“Super clean and well lit. The people who work there are as nice and helpful as cam be expected. They are definitely nicer and more accommodating then a lot of the other markets on this block. And they have hand scooped ice cream, which is actually really good quality ice cream. And if they should ever run out they replace the giant tubs with Ben and Jerry's pints. With no price change. Which is super dope I think. The have a huge selection of beverages and dry goods for such a little store and the delicatessen side of things is amazing. I don't have a single complaint about any of the dishes I have tried thus far. I recommend the spaghetti and lasagna tray. It's AMAZING!!! My boyfriend is an Italian from New York and even he likes the pasta. So you know it's good. Also their pricing is not to extreme. Its reasonably priced fresh foods and pre-packaged items which in the city is as we all know can be difficult to find. Don't just take it from me you should go and give them a try. You won't be disappointed. ???????????〰️?????❕️❗️❕️❗️❕️“

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

“好味好味，綠茶同芝麻都好味。“

“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“

“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.“

“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.“

“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.“

“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.“

“I love the base and freedom to add your favorite flavors.“

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

“Molto buono e la proprietaria molto simpatica“