Ice cream has a lot of air in it. The churning action of the princess used to make it ensures its more of an emulsion of air and flavored frozen dairy stuff. When it melts, the air is able to come to the surface and the remainder is just the flavored dairy stuff. When you refreeze that, it’s a more or less homogenous block of liquid frozen solid, there aren’t any voids of air to make it soft.
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