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.“

“I love coming here. It feels as if I traveled back in time to where I'm from, where we had tiny stores owned by families who put their candies in jars and you had to point to ask the shop keeper to get the candy you liked.

The gentleman who runs this place is really polite and gracious. I come here to get candy and ice cream once in a while since I live around here.“

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

“The Best! So many years of great memories“

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

“Do NOT miss this I've cream store. We are ice cream snobs and this place absolutely HITS. The flavors are creative, the vibe is relaxed and faithful to the core ethic of ice cream (i.e., happiness), and the prices are reasonable. I'm also in live with the used spoon return mechanism.“

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

“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“

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

“This is a cute ice cream shop hidden inside the cannery courtyard by Argonaut hotel. We found it by accident and we were glad we did. Norman the owner was the sweetest, and his ice cream, shakes and hot chocolate were delicious. My family and I can't wait to visit and try it again and again.“

“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“

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

“I visited here a while ago and I would definitely recommend this store and also Ghirardelli Square in general!
I enjoyed this chocolate shopping experience. Plus the atmosphere was very friendly. The park was super beautiful, and I think it is very cool to see all those chocolate making machines in the store. Chocolate Fudge was way too sweet for me. (I don't have a photo) But overall I would highly recommend this place!“

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

“This has been the hot spot since I was a baby and is still phenomenal! Even after all my travels and taste testing of different types places, I always return here. I also love that it is all homemade and love to support this little local treasure ✨“

“We came across this adorable little ice cream truck, selling ice cream, cookies, and brownies. This place has a fun menu, where you can build your own custom ice cream sandwich, or order the ingredients (ice cream, cookies, and brownies seperatly). We ordered the combo, where we got a choice of a cookie, ice cream and a brownie on the bottom. We got fudge as a topping, the cookie monster cookie, toasted s'mores ice cream, and the brownie on the bottom (no special brownie flavors). The cookies are soft and tasty, and we actually bought some cookies later, simply because of how good they tasted. The ice cream tasted really good too, sweet and smores-like. The brownie was a little bit hard, but the ice crean melted and softened the brownie, and allowed for a more chewy bite, but at first it was definitely a little hard to chew into. The service was friendly and efficient. Outside the ice cream truck, there is some outdoor seating where you can eat while you have a view of the pier. I highly suggest getting some cookies and/or ice cream here, especially the cookies n cream cookie, and cookie monster cookie. Good place to get some ice cream and cookies at the pier! (And make your own ice cream sandwich!)“

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

“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.“

“Had the best experience here. I called last minute to try and get a table, the person working was able to get me and my three friends in on a Saturday night. We had 2 pizzas and a bottle of wine. Great food, staff and environment. Will definitely come back.“

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

“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“

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

“Such a cute ice cream spot!
I got the raspberry ice cream in a chocolate chip cookie cup, and they went so well together! The cookie was fresh and crunchy, and I love that you can get your ice cream in a cookie cup or add cookie pieces on top. I also tried the cookies and cream shake, and it was really good too!

The staff were friendly and helpful. They have a few seats outside in the front and more seating in the back of the store, which makes it a nice place to hang out and enjoy your ice cream.“

“The matcha here is really consistent. I’ve been several times since they’ve opened and I’ve always been happy with my drink! I especially love their peach matcha latte (seasonal). Their hojicha latte is already pretty good. Their soft serve is also really good and the matcha one has a very strong flavor. The line to order with a cashier tends to be shorter than the kiosk and sometimes peopme don’t realize that there are 2 separate lines. Would definitely recommend!“

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

“They have great ice cream!“

“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!“

“I had a wonderful experience today at the shop! After getting some nice samples, I was impressed with the texture and flavor of the gelato. I really like how real and natural flavors are, such as the coconut strawberry and the hazelnut flavor. It doesn’t taste fake; it tastes like the real thing because it is the real thing. I thought it was interesting that he says to get his produce just up the street from a local store. It was really awesome! We ended up getting the coconut, and it was fantastic.“

“The matcha drinks here are some of my faves anywhere. They get the balance of the matcha and the sweetness / creaminess just right. Prices are expected. Ordering is easy via their kiosk/tapping. The orders come out fast! Very limited seating at this location though. I’ve had at least 4 different drinks here, and they were all delicious. You can’t go wrong!“

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

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

“Molto buono e la proprietaria molto simpatica“

“I usually don't eat ice cream, but this place has so many unique Hawaii flavor ice cream. I tried coconut macadamia, it was packed with flavor, chunks of nuts, shredded coconut, very delicious, too bad I can not eat too much sugar. Definitely worth stopping by when you in Sausalito“

“If you have even a mild sweet tooth, stepping into SOMA Chocolatemaker in the Distillery District feels like crossing the threshold into a literal chocolate wonderland. It is, without a doubt, one of my absolute favorite spots in the city to take out-of-town guests or sneak away to for a weekend treat.

The vibe is incredible—housed in a beautiful, historic brick-and-beam building, the shop smells so rich and intoxicatingly chocolatey the second you open the door. You can actually look through the glass partition and watch them sorting cacao beans and tempering chocolate in real-time, which gives the whole place a really cool, authentic 'mad scientist of cacao' workshop atmosphere.“

“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“

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

“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.“

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

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

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

“They have great ice cream!“

“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!“

“We tried two Ghirardelli cups — one with the Dubai topping and strawberries, and the other with the Dubai topping and ice cream. Both were delicious! The Dubai topping is very rich and intense, while the ice cream gives a nice balance.

I think the perfect combination would be strawberries, Dubai topping, and ice cream together — it would be lighter and more balanced. Overall, a very tasty dessert experience!“

“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! 😀“

“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.“

“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.“