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!“

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

“Popped in on July 4 and we’re so lucky this place was open! Owner was super friendly and let me try a few flavors before I landed on the flavors mint and dark chocolate and sea salt (sorbet).

My partner got the blueberry cheesecake - also delicious. Flavors change every month so we’ll definitely be back

Plenty of parking out front. I wish we lived closer so we could’ve bought pints that wouldn’t melt by the time we got home“

“I recently noticed many young and attractive people overflowing this venue; being approximately 0-2 of these things, I decided to try it myself. Anyway, I got cinnamon + sea salt/caramel and it was pretty good. Didn’t process super well but I’m lowkey lactose intolerant so not really on Sea & Straw. They have some non-lactose options so maybe should try that“

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

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

“I had the one scoop hot fudge sundae with my choice of icecream flavour. It was delicious! If it was ‘Norman’ serving he was a delight taking such care over each order and every scoop. I didn’t mind waiting to receive such thoughtful service. Highly recommend 🍨😋“

“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“

“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.“

“I’ve been to a lot of ice cream places around the world and this is my favorite one (get the vanilla honey lavender flavor). Not only is the ice cream delicious and waffle cone crunchy, but it is very cheap (I swear ice cream has gotten so expensive - like why are some places charging $10). The only downside would probably be that they only take cash.“

“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!“

“Amazing tasting pizza, the pepperoni was just the right amount of spicy, the honey added a lot of depth. The pizza was light, but still filling enough that you are not hungry, but not so much you feel stuffed. Perfect balance and great pizzas.“

“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.“

“The crepes and ice cream were not only delicious but also decorated beautifully! The attention to presentation really stands out and makes the experience even more enjoyable. The staff were also very friendly and welcoming, which made the visit even better.“

“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 ordered the matcha ube latte along with the hokkaido cheese tarts and matcha cheese tarts. The matcha was strong and the ube complements it nicely. Both tarts were great too, slightly crisp but not too sweet, but I still prefer the regular cheese tart. The matcha added some bitterness, and the flavors didn’t blend as smoothly as I expected.

The lines can be quite long but it moves fast.“

“Happiness in a cup. And a cone 😁“

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

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

“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.“

“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.“

“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!“

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

“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!“

“We took the ferry to Sausalito on a cold, windy day, but there was no way we were skipping Lappert's.

The staff was incredibly patient and kind with our kids as they asked to sample what felt like half the menu before finally making their decisions. They never seemed rushed and made the experience fun for the whole family.

Every flavor we tried was fantastic. Not a single one disappointed. Our son loved his ice cream so much that he went back for seconds, while our daughter and I both happily ended up with two scoops.

When ice cream is this good, the weather doesn't matter. Lappert's was one of the highlights of our day in Sausalito and easily some of the best ice cream we've had. If you're visiting, don't miss it.“

“~follow me on IG at @summer.ishungry if you found this helpful :) <3

Stopped by Kiss of Matcha for an afternoon pick-me-up and ordered the jasmine matcha latte. The drink came out surprisingly fast and was smooth, refreshing, and well balanced.

The café had a cozy atmosphere and wasn’t too crowded when I visited, making it a great spot to relax for a bit. I’ve tried quite a few matcha spots around the Bay Area, and Kiss of Matcha continues to be one of my favorites. Definitely a place I’ll keep coming back to.“

“good vibe, workers were very nice, good flavors of ice cream and super cool idea to have a cookie cup (think waffle bowl). the 2 cookies i tried (peanut butter and cookies and cream) were good, nothing to write home about but good and a nice size. the ice creams had unique flavors (i tried oreo cream and butterfinger--the butterfinger was phenomenal) that were executed well. i do wish the cookies and cream cookie would have had some mixins or frosting or something. wish we wouldve found this place sooner so we could have tried more! my aunt loved the ginger ice cream“

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

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

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

“Giving 5 stars because the chocolate is good; but the icecream options are limited and very expensive! $27 for a three scoop sundae, ehhh, not really worth it. But , it is a great stop to grab a decent dessert after a day on alcatraz island!“

“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.“

“Stopped by recently on a hot summer day for some gelato. Talk about a perfect repast to beat the summer heat. I had hazelnut and mango, and the portions are very generous. I didn't ask, but I think they make the cones in-house. Anyway, strange combination, I know. The mango was immediately delicious but I think I messed up combining the two because when it came time for the hazelnut, I was too full to truly enjoy the depth of flavor. Next time, I'll get it to take home. I love the location, it's in one of my favorite areas of San Rafael with shopping, good food and entertainment in abundance. Haven't had the pizza yet, but I'm a New Yorker and we're picky about our slices!“

“We love everything about this place

You feel like family coming here. The ingredients are so delicious and my stomach feels just fine after eating the pizza.

From garden veggie to pesto to chicken, it’s all good!“

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

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

“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.“

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

“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.“

“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!“

“Great oldschool sandwiches... get a small because the mediums are huge lol. Unless you're hella hungry.“

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