In recent years, the different dietary needs of consumers due to their health problems such as food allergies and lactose intolerance or lifestyle changes, well-being trends, and increasing awareness about environmental concerns causes an increment in consumers’ demand to have more plant-based foods in the diet. In this regard, more sustainable alternatives for different food systems come into prominence, and the market size for new plant-based alternatives especially for dairy products is ever-increasing. Ice cream is a complex colloidal structure and is defined as a frozen foam that is considered a suitable matrix for plant-based milk substitutes. Although it is hard to obtain a stable colloidal ice cream structure when replacing cow’s milk with plant-based alternatives, the coconut-based, soy-based, and almond-based milk alternatives are regarded as one of the most suitable choices for ice cream production. According to studies, coconut milk’s fat and protein content helps the formation of emulsion and stabilization of the foam system. Also, it is indicated that soy-based ice cream is a good carrier for probiotics, has a better melting resistance, and has comparable sensorial properties with dairy ice cream when used together with milk alternative combinations. However, some technological, microbiological, and sensorial properties of plant-based ice creams were not similar to ice cream made with cow’s milk. Eventually, innovative approaches to producing ice cream with different milk alternatives could be promising and beneficial for the sustainable food industry and should continue to be developed to meet the current needs and interests.