The Ultimate Guide to Ice Cream & Frozen Custard in Waukesha County

There's something special about a Wisconsin summer evening. The windows are down, the sun is beginning to set, and the only question is, "Where should we go for ice cream?"

One of the best parts of living in Waukesha County is discovering the locally owned ice cream shops, frozen custard stands, and neighborhood favorites that have become traditions for generations. Whether you're spending the day on the lake, exploring a charming downtown, or simply enjoying a warm summer night, there's always a sweet stop nearby.

If you're thinking about making Waukesha County your home, these local favorites are just one more reason to love the communities throughout Lake Country.

Brookfield, Wisconsin

Kopp's Frozen Custard

 18880 W Bluemound Rd

A Wisconsin icon since 1950, Kopp's is famous for its rich frozen custard, giant burgers, and rotating Flavor of the Day. It's a tradition for generations of families and a must-visit destination in Brookfield.

Lee's Dairy Treat

 4615 N 132nd St

Serving delicious treats since 1971, Lee's is one of Brookfield's most recognizable landmarks. The octagon-shaped building, retro hand-painted menu boards, glowing neon sign, and iconic ice cream cone-shaped garbage cans create a nostalgic experience that's just as memorable as the ice cream.

Don't miss the famous 32-ounce Monster Shake or Malt, or choose from more than 40 sundae toppings.

Murf's Frozen Custard

 12505 W Burleigh Rd

A locally owned favorite serving fresh frozen custard, burgers, sandwiches, and classic Wisconsin comfort food in a welcoming neighborhood atmosphere.

Scratch Ice Cream at Folklore Mercantile

 2205 N Calhoun Rd

Scratch-made artisan ice cream featuring creative seasonal flavors inside Folklore Mercantile.

Delafield, Wisconsin

Here's the Scoop

Locally owned and serving premium ice cream with more than 30 flavors, specialty treats, and custom ice cream cakes in the heart of downtown Delafield.

Mullen's Dairy Bar

Located at the Smiley Barn, Mullen's serves its handcrafted, dye-free super-premium ice cream made with an all-natural 14% butterfat mix.

The Chocolate Factory

Located in the Shoppes at Nagawaukee, The Chocolate Factory is known for frozen custard, ice cream treats, sandwiches, soups, and salads, making it a favorite destination for lunch or dessert.

Dousman, Wisconsin

Kiki's – Coffee, Ice Cream & Treats

 133 N Main St

A charming neighborhood shop serving coffee, baked goods, and Purple Door Ice Cream in the heart of downtown Dousman.

Hartland, Wisconsin

Sweet Dreams Burger & Custard Shoppe

 540 Hartbrook Dr

Fresh frozen custard is made daily alongside burgers, sandwiches, and classic drive-in favorites.

The Twisted Scoop

Located in downtown Hartland, The Twisted Scoop serves premium Chocolate Shoppe Ice Cream from Madison with rotating seasonal flavors.

Menomonee Falls, Wisconsin

The Chocolate Factory

 N88W16498 Main St

Opened in 2024, this downtown location offers the same frozen custard, sandwiches, and sweet treats that have made The Chocolate Factory a Wisconsin favorite.

Merton, Wisconsin

Scratch Ice Cream

 W282N7220 Main St

During the warmer months, Scratch Ice Cream serves handcrafted ice cream from its seasonal truck outside Folklore Mercantile.

Muskego, Wisconsin

Frozen Frog Ice Cream

 W189S7839 Racine Ave

Frozen Frog makes its ice cream in-house and has become a favorite summer destination for Muskego residents. Seasonal flavors, handcrafted ice cream, and a welcoming atmosphere make it a perfect stop after enjoying Muskego's lakes and parks.

The Milk Can

 S74W17026 Janesville Rd

A longtime Muskego favorite, The Milk Can is known for its classic frozen custard, generous sundaes, shakes, malts, and old-fashioned drive-in charm. Whether you're stopping in after a day on Little Muskego Lake or simply enjoying a summer evening, it's a local tradition that has been bringing families together for generations.

Oconomowoc, Wisconsin

Kim's Gourmet Pizza Pub

 N59W39459 Laketon Ave

While Kim's is well known for its pizza, locals know it's also one of Lake Country's hidden gems for frozen custard. Choose from eight flavors served in dishes, cake cones, or waffle cones, along with shakes and classic root beer floats.

Kiltie Drive-In

 N48W36154 E Wisconsin Ave

A Lake Country tradition featuring classic drive-in service. Open seasonally and still operating cash or check only, Kiltie reopened for the 2026 season under new ownership.

Mullen's Dairy Bar

 120 E Wisconsin Ave

Serving handcrafted ice cream and Nathan's Famous Hot Dogs in downtown Oconomowoc. Mullen's has been crafting premium ice cream since 1932 and now features a dye-free, all-natural recipe.

The Chocolate Factory

 1077 Summit Ave

A family favorite serving frozen custard, sandwiches, soups, salads, and sweet treats just minutes from downtown.

Whelan's Coffee & Ice Cream

 163 E Wisconsin Ave

Serving coffee and ice cream since 2006, Whelan's is a favorite stop while strolling through historic downtown Oconomowoc.

Pewaukee, Wisconsin

Bubba's Frozen Custard

 1276 Capitol Dr

Serving fresh frozen custard since 1998, Bubba's has become a local tradition after a day on Pewaukee Lake.

The Chocolate Factory

 161 Wisconsin Ave

Located near downtown Pewaukee, The Chocolate Factory is another great stop for frozen custard, sandwiches, and ice cream after enjoying the lakefront.

Wales, Wisconsin

LeDuc's Frozen Custard

 240 W Summit Ave

Serving high-quality frozen custard and food since 1980, LeDuc's is one of Waukesha County's most beloved destinations. Be sure to ask about their popular Sundae Kits To-Go.

Waukesha, Wisconsin

Oscar's Frozen Custard

 21165 E Moreland Blvd

A longtime Waukesha favorite known for fresh frozen custard, award-winning burgers, and generous portions. After rebuilding following the 2024 fire, Oscar's welcomed customers back in 2026 with a beautiful new restaurant, expanded patio, and double drive-thru.

The Chocolate Factory

 2120 E Moreland Blvd

Conveniently located on Moreland Boulevard, this location serves frozen custard, sandwiches, soups, salads, and classic Wisconsin treats.

 Why It Matters

Finding the perfect home is about more than square footage - it's about finding a community that fits your lifestyle. Whether it's walking downtown for an ice cream cone, treating the kids after a baseball game, or ending a summer evening with frozen custard, these traditions become part of what makes a neighborhood feel like home.

From Brookfield to Oconomowoc, Waukesha County is filled with local businesses that help create lasting memories for residents and visitors alike.

Discover Waukesha County with Berkshire Hathaway HomeServices Lake Country Realty

At Berkshire Hathaway HomeServices Lake Country Realty, we know Waukesha County because we live and work here every day. From vibrant downtowns and lake communities to quiet neighborhoods and rural landscapes, we're passionate about helping buyers and sellers find the place that's right for them.

Whether you're searching for your first home, your forever home, or your next investment, our experienced team is here to guide you every step of the way.

Ready to explore everything Waukesha County has to offer? Contact Berkshire Hathaway HomeServices Lake Country Realty and let us help you find a home you'll  love - perhaps just minutes from your new favorite ice cream stop.