The market for plant-based proteins, particularly alternatives to dairy products, is growing due to health benefits and environmental concerns. Many people are adopting plant-based diets, due to lactose intolerance, vegan and vegetarian lifestyles; thus, promoting lactose-free and cholesterol-free alternatives to milk-derived products such as ice cream. Rice, which is a lactose and gluten free product, as well as low in fat, and calories, could be a promising substitute for dairy milk in foods such as ice cream. In the current study, the development of a novel recipe for ice cream based on brown rice milk was investigated. After standardizing the rice milk production protocol, six combinations of hydrocolloids were used as emulsifiers, as well as four sweeteners for granulated sugar substitution were tested. In all formulations, meltdown and overrun parameters were measured and at the final stage organoleptic evaluation was conducted to determine the level of sensory panel acceptance. In conclusion, it was evident that the rice milk-based ice cream, which combines xanthan gum, guar gum, k-carrageenan, with 30% sugar substitution with stevia, was the formulation with the highest acceptance in the physiological characteristics and sensory evaluation.