When water freezes it creates crystals that are hard. An ice cube is like 1 solid crystal. Ice cream is a mix of water and fats and gets churned as it freezes which means those ice crystals don’t grow very large so you have a creamy, fatty mix with millions of tiny ice crystals rather than 1 big ice crystal like an ice cube.
There are also a lot of air trapped in there to make it even softer.
High quality ice cream usually has less air and is way harder.
EDIT: I just wanna add that the sugar content also helps.
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