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In Milwaukee, ice cream isn’t just dessert – it’s an event. Whether you swear by frozen custard, love inventive small-batch ice cream, or go for an over-the-top milkshake experience, there are plenty of spots where kids and parents can get their fix.
To help you choose your next treat stop, we’ve rounded up 10 standout favorites plus dozens of great extras organized by category.
💡Looking for more family-friendly food spots? Check out our guide to the Best Kid-Friendly Restaurants Around Milwaukee.
Quick Picks – Where To Go First
Here are the top spots families love most, organized so you can choose quickly.
- Best Overall Frozen Custard: Kopp’s
- Most Iconic Milwaukee Spot: Leon’s
- Best for Families with Little Kids: Smiley Barn (toy store + ice cream!)
- Best Artisan Ice Cream: Purple Door
- Best Beachside Stop: Ferch’s Beachside Grille
- Best Instagrammable Treats: Better Together Café
- Best Popsicles & Dairy-Free Options: Pete’s Pops
- Best Classic Drive-In: Kiltie
Top 10 Ice Cream & Frozen Custard Shops in Milwaukee (2026)
A curated list — short, sweet, and truly the best of the best.
1. Kopp’s Frozen Custard
Brookfield • Glendale • Greenfield
A Milwaukee essential. Two flavors of the day, giant burgers, and a cult following. Families love the open seating and specialty sundaes.
2. Leon’s Frozen Custard
3131 S. 27th St., Milwaukee
A 1950s-style drive-in with neon glow and classic flavors. It’s old-school Milwaukee at its finest.
3. Kiltie Drive-In
Oconomowoc
A retro, seasonal drive-in slinging thick custard, burgers, fries, and plenty of nostalgia. A must-visit for families making the trip to Lake Country.
4. Ferch’s Beachside Grille
Greendale
Beach day + custard = perfect combo. Located by Grant Park, this is a family favorite for burgers, sundaes, and outdoor fun.
5. Purple Door Ice Cream
Walker’s Point
Small-batch, creative flavors made with care. Parents love the sophistication; kids love the huge variety. You can also get Purple Door ice cream at Fitzgerland Pharmacy in Whitefish Bay!
6. Scratch Ice Cream
Milwaukee • West Allis • Brookfield
Handcrafted in small batches with fun, ever-changing flavors. Grab a cone and soak in the lively food-truck atmosphere at their Milwaukee location.
7. Joy Ice Cream
Wauwatosa
A beloved neighborhood shop serving Madison’s Chocolate Shoppe Ice Cream. Expect friendly service and family-favorite flavors.
🍦Want a closer look? Read our Joy Ice Cream Social review for more photos and details.
8. Pete’s Pops
Milwaukee • West Allis • Bay View
More than 100 rotating flavors of popsicles and ice cream bars made with natural ingredients. Great for a dairy-free option and for toddlers because – no melting cone meltdown.
9. Better Together Café
South Milwaukee
Half espresso bar, half milkshake wonderland. The milkshakes are over-the-top creations topped with cookies, cakes, sprinkles, and more. Perfect for birthdays or special outings.
10. The Smiley Barn Toy & Candy Store
Delafield
A whimsical kid destination with an ice cream shop that’s been scooping since 1932 — plus a toy store, candy corner, and game room. One of the most fun family stops in the region.
Unique Ice Cream Experiences
These spots go beyond the scoop with fun themes, retro charm, and kid-pleasing surprises.
Don’s TV & Repair (Milwaukee)
A speakeasy disguised as a 90s-style TV repair shop with retro décor, a secret entrance, and wild build-your-own milkshakes. A quirky, unforgettable stop for older kids and teens.
💡Curious about the experience? We reviewed Don’s speakeasy-style milkshake bar in depth.
Georgie Porgie’s Treefort (Oak Creek)
Part ice cream shop, part indoor treefort adventure. Families love the whimsical theme and fresh frozen custard.
Family Favorites With Extra Fun
Kid-approved spots that offer something special beyond the ice cream.
Oscar’s Frozen Custard (Franklin)
The Franklin location includes a working model train that loops the dining room — little kids adore it. Great sundaes and big burger meals.
Ben & Jerry’s Third Ward
A bright, fun shop with 34 rotating flavors and a lively Third Ward location that’s great for strolling.
More Spots to Try (Organized by Category)
Short, simple, and easy to skim — perfect for choosing your next treat stop.
More Frozen Custard Stands
Still craving custard? Here are more local favorites worth a stop.
Oscar’s (Franklin has a model train!)
Gilles
Fred’s Frozen Custard
Buddy’s Burgers & Custard
Dairyland (3rd St. Market Hall + Central Waters)
Big Deal Burgers & Custard
Murf’s
Milk Can
LeDuc’s
Bubba’s
Wholly Cow
Pop’s
Robert’s
Kraverz
Hefner’s
Mickey’s
Ted’s
Georgie Porgie’s Treefort
Frozen Frog
Creamy Pig
Everyone’s Ice Cream
More Artisan Ice Cream Shops
Looking for small-batch scoops or inventive flavors? These shops deliver.
Neveria Las Maravillas (incredible mangonadas!)
AM Ice Cream (rolled + bubble waffle ice cream)
Babe’s Ice Cream
Cedar Crest–serving parlors around Milwaukee
Gelato Shops
Smooth, creamy Italian-style frozen treats for every kind of sweet tooth.
Cold Spoons
Cocoa Tree Confectionery
Divino Gelato Café
Golosi
Zaffiro’s (Marcus Ridge Cinema)
Frozen Yogurt
Build-your-own cups loaded with toppings kids love.
Yo Factory
My Yo My!
Daddy Yo’s
Red Mango
Smart Cow
TCBY
YoFresh
Yo Mama!
Tried-and-True Chains
Classic spots families know and love across the Milwaukee area.
Culver’s
Dairy Queen
The Chocolate Factory
Baskin Robbins
Cold Stone Creamery
Related Posts
Keep exploring Milwaukee with more kid-friendly food and treat adventures:
- Custard MKE: Your One Stop Shop for Flavors of the Day
- Museum of Ice Cream in Chicago: An Honest Review for Families
- 50 Best Kid-Friendly Restaurants Around Milwaukee
