This study examines the effects of wholly or partially substituting traditional dairy milk with avocado milk in ice cream formulation on the descriptive sensory profile and consumer acceptance. Analysis was performed on nine formulations with different replacement levels (25%, 50%, 75%, and 100%) and avocado milk concentrations (1:2 and 1:3). Sensory evaluations were conducted through descriptive sensory analysis and consumer acceptance assessments. The results showed that replacing 25% to 50% of the milk with avocado milk at a ratio of 1:3 made the sensory properties much better, such as viscosity, smoothness, firmness, and avocado flavor. Conversely, the product tasted more bitter and astringent when the level of substitution was higher (75% to 100%), which made it lower consumer acceptance. The formulations that used avocado milk as a moderate replacement had their own unique taste characteristics while maintaining acceptable consumer ratings. This study highlights avocado milk's significant potential as a component of functional ice cream, which not only enhances sensory quality but also satisfies consumer demand for healthy plant-based desserts. Additionally, it provides comprehensive instructions for creating ice cream that makes use of avocado milk's benefits, which is useful for creating new and healthful frozen desserts.