The purpose of this study was to formulate the optimal ratio of tofu ice cream made with crushed tofu and soybean milk. Also, to compare characteristics of tofu ice cream and soybean ice cream. Mix viscosity, overrun and melting down are measured as characteristics of ice cream. The optimal mixing ratio of tofu ice cream was determined by response surface methodology based on overall quality. As a result of optimization, tofu ice cream was made with 65.90% tofu cream (9% solid contents), 4.35% whipping cream, 14.35% canola oil, 15.00% sugar, 0.2% emulsifier and 0.2% guar gum. Soybean ice cream made with three different treated (blanched, steamed, roasted) soybean and each preprocess are treated for 0-20 min. Mix viscosity was enhanced preprocessing time increasing. Also, overrun and melting down was decline preprocessing time increased. As a result of comparison of ice cream overall quality, 15 min roasted soybean ice cream was shown the best quality.