This research aimed to develop jelly soup for dysphagia patients at the International Dysphagia Diet Standardization Initiative (IDDSI) Framework levels 4 (puree) and 5 (minced and moist), who require swallow training to regain normal swallowing ability due to neurological issues. The study comprised three main parts: (1) an investigation of hydrocolloid types and concentrations for texture-modified foods to aid dysphagia patients during training; (2) a study of sterilization conditions and ascorbic acid’s impact on physical properties (e.g., texture, viscosity, color) of the texture-modified foods; and (3) an evaluation of changes in physical, chemical, and microbial properties of the product during storage. Results revealed that the ideal recipe involved using pork bone broth with 1% κ-carrageenan for texture modification, which closely matched the properties of hospital jelly samples in terms of hardness, adhesiveness, and viscosity. Sterilization at 110 °C for 109 min effectively eliminated microorganisms without affecting the product’s appearance or texture, albeit causing a slight increase in brownness. Adding ascorbic acid helped to prevent the Maillard reaction but reduced the gel strength of the sample and induced milk protein denaturation, leading to aggregation. During storage at room temperature for 9 weeks, the product became browner and less firm. Notably, no bacteria were detected throughout this period. In conclusion, this heating process is suitable for producing jelly soup to support swallow training for dysphagia patients with neurological problems. It offers invaluable assistance in their daily training to regain normal swallowing function.