There are two methods, both of which don't use soymilk machine. If you have to use it, you can use the stirring function of the soymilk machine. First make egg yolk ice cream, that is, steamed glutinous rice flour, mix well with egg yolk and sugar, and put it in the refrigerator for freezing. If you don't want to deliver the egg yolk manually, the soymilk machine may be helpful, but I haven't used it. I use a hand-held blender when I use it.
The second way is to buy Nestle ice cream powder. After mixing with milk, sometimes some whipped cream is added, and sometimes no whipped cream is added. I freeze it, take it out every hour or so, and stir it three times before giving it to the baby. My baby is a big boy, three years old.
Actually, there are no tools. I have to say that the ice cream crusher is a plastic box that can be frozen and deformed, but I don't need it, because once it is put into the crusher, it can't be stirred, and the ice cream is hard.