50 Best Ice Cream Shops near Mill Valley

“I had a great experience at Angela’s Ice Cream. Their service really stood out—they happily let customers try different flavors before deciding, which made the visit even more enjoyable. The ice cream was some of the best I’ve had, and our server was especially friendly and welcoming. Her warm attitude made the whole experience feel personal and memorable. I’ll definitely be back!“

“Best ice cream cakes ever! You can absolutely taste the difference when it is homemade. Every topping was exquisite, and the designs are beautiful. The ice cream was thick and creamy, and the chocolate sauce heavenly!“

“Good. Then we sharpen, not add.

Here’s your top 1% elite version. Cleaner, more precise, one stronger visual line:

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You come for a crepe. You forget to rush.

Millie’s Crêpe et Crème sits inside the Mill Valley Lumberyard, quietly confident. A small window, patterned tiles, handwritten menus. Nothing competing for attention.

The crepes are the point. Thin, warm, just crisp at the edges. Sweet or savory, done properly without trying to impress. Organic wheat or buckwheat, and the gluten-free option feels intentional.

The details carry it. Buffalo milk soft serve from Double 8 Dairy. Coffee from Signal in Berkeley. Paper plates turned into menu cards, casually lined up behind the counter like a still life that happens to be useful.

Then the courtyard. Wooden tables, string lights, a slow rotation of dogs and locals who already know. You sit down for a few minutes and time softens around you.

It doesn’t announce itself.
It simply gets it right.“

“Historically best ice cream in SF!“

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

“$4.5 for a hot freshly roasted beef sandwich, with the side of nachos and potato salad in San Francisco is unimaginable! The pistachio ice cream was really good as well. Tom is a really nice man who is dedicated to his ice cream shop and the customers. Come and get yourself a sweet treat!“

“We love this ice cream place not just because of their delicious flavors. They always have, or because of the monthly new flavors that they cook up all the time. But we also love it because they always have vegan options. We don’t do well with dairy, so we’re always willing to take dairy pills to have these delicious flavors. But we also love that they are vegan flavors are also high-quality! It’s nothing fancy, it’s just ice cream. But they do it very well.“

“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“

“Delicious, local, worth the wait. The owner, Norman, was a lovely man. The location in the historic Del Monte cannery courtyard was a plus. Quiet, peaceful location to enjoy ice cream away from the frenzy one block away. If you like sampling ice cream from local folks while traveling, this is a must-visit.“

“This is AMAZING gelato!! Just came here with my kids after roller skating and it was the best treat ever! My daughter’s exact words were: “this is the best chocolate sorbet in the whole world!” And it really was. We also had the orange flower which was like a sweet cream with a hint of orange essence, and it went really well combined with the strawberry! My husband LOVED the pistachio, it’s real pistachio! Soooooo good, can’t wait to come back! The owner is really really nice too!“

“Stopped by Ghirardelli for a dessert break and ordered the Strawberry Passion Hot Fudge sundae. The portion was huge and packed with a lot of ice cream. The chocolate-dipped strawberries were surprisingly big and sweet, and the hot fudge sauce tasted really good with the ice cream without being overly sweet. Everything balanced together nicely, and it felt like the perfect treat while taking a break around the area.“

“his is hands-down the best ice cream spot in the area. It’s a quintessential local gem—tiny, charming, and always worth the wait in line.

What sets them apart is the quality of their organic, small-batch flavors. The Vanilla Honey Lavender is an absolute must-try; you can tell they use real, high-quality lavender. Their housemade waffle cones are the best I’ve ever had—crispy, fresh, and they smell amazing from a block away.

I also love their commitment to being waste-free by using stainless bowls for those eating there. Just a heads-up for newcomers: it is cash or local check only, so come prepared! It’s the perfect place to grab a scoop and walk around town. Truly a Fairfax staple that never misses.“

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

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

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

“Had an amazing experience at Frankie & Jo’s this weekend. Incredible customer service and super helpful on letting me know what is in the ice cream and detailed on how the flavors taste like. The employee who helped me out was Lara and she was very nice, patient, and great with kids. Highly recommend this place to anyone in the area either visiting or a local resident.“

“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“

“Happiness in a cup. And a cone 😁“

“Walked by this pop-up restaurant on the way back to our car, decided to give it a try and was not disappointed. The young woman providing service was very friendly did a wonderful job putting together are bare basket and cookie sandwiches. They're pretty big two people could easily split it.“

“The first time this happened, I assumed it might have been a mistake and didn’t mind.
However, after ordering an unsweetened matcha latte again and still finding it noticeably sweet, I felt frustrated.
I was told the sweetness came from the milk, but the level of sweetness didn’t seem consistent with milk alone.
My concern is less about taste and more about transparency—there’s no clear indication that “unsweetened” may still contain sugar.
If you’re sensitive to sugar or monitoring intake, I’d strongly recommend confirming the ingredients of the matcha powder before ordering.“

“The ice cream is amazing! I’m a sucker for Juliette’s Vanilla malt milkshake. Never too full for one of those!“

“Well, it is a tad pricey, but it is a must stop when visiting San Francisco. Sure, you can get it elsewhere--the candy bars etc., but they have the best sundaes and the entire store is just packed with anything you want from their line of great chocolate.

The place can get packed so chill out. During tourist season it is busy, but the line moves fast and there is just so much to look at and so much to buy.

The place is just spotless and everything tastes fresh and you want to buy a gift or two for friends. They even sell hot chocolate mix. There is just nothing not to love.

The staff is super and knows where everything is. Go to this one. Sure the tourists love it. I am a tourist and I love it.

Now, don't leave your candy bars in the sun. They will melt and you will be sad.“

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

“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“

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

“I took our kids to Lappert's Ice Cream this Sunday and had such a great experience! There was a good crowd so I had high expectations. The line moved quickly and efficiently. The staff was incredibly engaging, friendly, and provided excellent customer service from start to finish.

They have a huge selection of ice cream flavors, including some really unique and delicious-looking options you won't find at most other ice cream shops. Everything we tried tasted amazing and was clearly high quality.

This was such a fun family stop, and we'll definitely be back again. Highly recommend checking it out if you're looking for great ice cream and a welcoming atmosphere!“

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

“the matcha TEA drink was super yummy I liked it a lot. However, the ube matcha latte was not it… I couldn’t only taste the ube and it was pretty sweet. If u are looking for a strong matcha drink, don’t get the ube LOL. On a side note, the ice cream was a major plus, very strong flavor and not a puny little serving!
P.S. this location did not have a crazy long line and the order is prepared super quickly“

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

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

“Great spot for a family meetup! Visited with relatives living in the US and loved the cozy atmosphere. The cup ice cream is very tasty—the chocolate flavor was rich and delicious. Highly recommend, but please note there is no restroom available inside.“

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

“Came on a Thursday night after seeing the Dates Pizza on TikTok—such a wild combo that I had to try it. It was incredible: like a fresh, vibrant salad wrapped in world-class pizza bread. We also had the meatballs and the pepperoni with sweet chili, and both were just as good. Fantastic service and a cozy, intimate vibe.“

“Talk about a hidden gem in the slums of downtown San Francisco! For a corner store they sure do have an amazing food selection. Went to go get pizza across the street around midnight and they just closed, went here instead and got some fruit salad and fettuccine. They had kebabs, wings, pasta salads etc and it all looked super fresh.

Great place to go for quick meals to take back to your hotel if you’re staying nearby.“

“Beat topping selections, and the yogurt is high-quality.“

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

“Though this is the branch you’d want to visit, bear in mind that the inside looks very much different to some of the photos. They did a remodelling few years ago and with it some of the stuff like the famous chocolate fountain is gone😭

Same great quality and service though 👏🏻“

“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!“

“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.“

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

“One of the best! We love Easy Breezy because of their delicious toppings, but they don’t always have the best ice cream flavors. One time we went and they didn’t even have chocolate or vanilla at all! But still, overall their frozen yogurt is amazing! We recommend it for family’s who have free time. 😁 ( This was written by my 6 year old! )
Thank you!“

“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.“

“Great little find while touring the city! Had to stop by three times in two days. Fantastic sandwich’s and great pastries.“

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

“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!“

“Molto buono e la proprietaria molto simpatica“

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

“Cool/fun idea. Good execution. Tasty. Pretty expensive. The guy making the ice cream rolls behind the glass was working super hard, but was basically a one man assembly line, and didn’t get to engage with the customer. Didn’t seem like the best environment to work in. This location was pretty beat up, some broken/old equipment on one side, half broken bench held together with duct tape.“