One of the big problems you'll have subbing soy milk for dairy milk is the lack of fat. You might try mixing it with coconut milk to beef up the fat content.
if you want an 'ice cream' made with soy milk, it would be best to use a recipe that was developed using soy. The consistency of ice cream is not only dictated by dairy, but also by fat and sugar content. Often, the low fat and/or dairy-free ice creams have added starches and thickeners to give them the ice cream consistency. Do a internet search for dairy free ice cream, there are lots of recipes out there that have been tried and tested. Good luck!
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