To prepare a vanilla velvet ice cream desserts recipe, first you will need to gather your ingredients. First, you'll need the following ingredients: 2 cups chilled whipping cream 2 tablespoons vanilla extract Instructions: Preheat the oven to 375 degrees F. Line an 8x8x2-inch baking pan with foil and set aside. In the bowl of an electric mixer, cream the softened cream cheese and sugar on medium speed until light and fluffy, about 2 minutes. Add the vanilla and beat until smooth. Gradually add the milk, beating until just combined. Pour the mixture into the prepared pan and spread it evenly with the foil. Bake for 20 minutes or until the top is set and the center is still slightly jiggly. Remove the pan from the heat and let it cool completely before cutting into squares.