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.“

“The Best! So many years of great memories“

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

“Extremely cheap food and ice cream, great service, but slow and unsanitary.

Tom, the owner, is 89 years old and has been running the business for decades. The prices here are exceptionally low, with a cup of ice cream costing $5 and a sandwich costing $4.50. The catch is that you'll have to wait for a while and he does not wash his hands between handling cash and food.

My sandwich, served with tortilla chips and potato salad, was so-so, but excellent value for the price. It took nearly 10 minutes to make the sandwich though.“

“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“

“Tasty eclectic mix of flavors with dairy free/vegan options! The flavors are mostly not traditional. We came for the dairy free ice cream, which was indistinguishable from regular ice cream. We would definitely come back. The neighborhood is nice and 4 blocks from the painted ladies houses.“

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

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

“WOW!!! Now this is easily the best hot fudge sundae i’ve ever had!!!! Great deal and such incredible quality. This is the best hot fudge in SF, the ice cream is top notch.

Not even an hour later I had to go back and try the halo halo. Absolutely DELICIOUS!!!! A must try for anyone in the area!!!!

Norman is very kind and welcoming.“

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

“In the red brick building, there is a smaller Ghirardelli store and a bigger one that sells the sundaes, drinks, and has a bigger gift shop. We got the World Famous Hot Fudge Sundae - $17.50 / 970 calories and shared it. Definitely sharable! There were a few tables with a great view of the bay and if you are lucky - brave people swimming in the cold water.

Besides smaller gift sets, there are three main ways to buy bulk Ghirardelli candy although expect to pay more for the privilege of buying it in their store. They have 1 pound and 2 lb bags of their Signature (raspberry, caramel, 60% dark chocolate, mint) and Dark Chocolate, and may be others but those are what I got. The Dubai chocolate is more expensive.

They also sell 1/2 pound for $20 of flavors you can pick, except Dubai, which is more expensive, but you can pick the flavors you want - I highly recommend the lava and mint chocolate.“

“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“

“Still dreamin’ about the meatballs from Angie’s… had I known better, I would’ve ordered the extra meatball. 😭

Angie’s is a cute, chic restaurant specializing in wood-fired pizza and a seasonal rotating menu. Such a perfect spot for date night!

Absolutely loved the R&B music, the vibes, and, of course, mopped up every last bit of food. 😂

We ordered the heirloom tomato salad, wood-fired meatballs, Margherita pizza, and peach vanilla sundae — and everything was DELICIOUS. It completely satisfied every pizza craving we had.

On a previous visit, we ordered the pepperoni pizza to-go, and OMG. It might be one of the most perfectly balanced pizzas I’ve had — sweet, spicy, savory, and just the right amount of everything.

Great food, great vibes, and a great date-night spot. Definitely coming back for those meatballs. 🍕“

“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.“

“The best ice cream i’ve had in California since moving here from the East Coast a decade ago. Fresh and creamy. Amazing prices too. Well worth the wait!!

My wife and I both agreed that the best flavors we tried were Vanilla and Caramel Almond Swirl.

Reminded me so much of small town, local creameries, from rural Massachusetts where I grew up.“

“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!“

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

“They have great ice cream!“

“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.“

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

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

“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 mango sorbet was truly the best I've ever had!! Several vegan options + Turkish delights and lovely staff. Really appreciative of the outdoor seating and relatively late-night hours (at least late by SF standards lol). So glad to have these guys in the neighborhood!!!“

“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!“

“~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.“

“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!“

“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.“

“I must express my appreciation and gratitude for the lovely quality tasty ice cream here! My wife and I were here on a Sunday visiting Sausalito for the first time (It's a lovely place with wonderful views and nice stores to see and nice people strolling around) and we got very Stressed because of some argument we had and also not being familiar with the place and we were also trying to manage our child as well. Anyway, my wife told me she heard this ice cream was Good and she went ahead and got 2 cups cookie dough and bubble gum and it was a great treat and calmed us all down. The store is pleasant and fast it usually has a line as it is a popular place and the ice cream is creamy tasty rich and good.
Highly Recommended!“

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

“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! 😀“

“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!“

“Molto buono e la proprietaria molto simpatica“

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

“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!“

“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.“

“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!!!“

“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.“

“great gelato with plenty of regular, vegetarian and vegan gelato options and great friendly, helpful & welcoming staff!“

“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.“