I Prefer...

soft serve is great, i dont eat a lot of ice cream, but i do make vanilla shakes all the time. I go through about 3 boxes of ice cream a month doing this. i used to get frosties from wendys and microwave them down to soft serve consistency. or dip the fries in them.
Wendy’s frostys are very good.
 
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My preferences have changed through the years. Baskin Robbins was my childhood favorite through to age 35 probably. Then I discovered Haagen Dazs and Ben and Jerry’s. But...

Peanut Buster Parfait.
...is a lifelong favorite for me and the GF. In fact, we sometimes get a hankering for one and don’t want to drive 10 miles to Dairy Queen so we make our own at home.
 
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The Peanut Buster Parfait seems pretty popular around here and add me to the list.

Oz, I only had one thought when you mentioned seeing the ice cream man sucking the soft serve out of the machine to get it to work,
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There is a local Dairy in a nearby college town that sells in the grocery stores and has a freestanding ice cream shop. Valpo Velvet (Debi knows it !)
Vanilla
Mint chocolate chip
Peanut butter, chocolate, caramel.
Milkshakes are usually vanilla with a few chocolate chip cookies in there.
Once a year I try to seek out the perfect blueberry milkshake.