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Wiktionary
ice milk

n. A dessert that resembles ice cream but is made of milk rather than cream.

WordNet
ice milk

n. similar to ice cream but made of milk

Wikipedia
Ice milk

Ice milk, or iced milk, is a frozen dessert with less than 10 percent milkfat and the same sweetener content as ice cream. Ice milk is sometimes priced lower than ice cream.

A 1994 change in United States Food and Drug Administration rules allowed ice milk to be labeled as low-fat ice cream in the United States.

Products containing less milk fat but higher sweetener content are sold as sherbet, and products with no milk fat or dairy analogues are sold as sorbet. Products which use nonfat or lowfat yogurt or dairy analogues are sold as frozen yogurt.

Usage examples of "ice milk".

The sherbet-like shell of the Creamsicle is identical to that of the Dreamsicle, but the payoff inside is ice cream in the former, ice milk in the latter.