The objective of this study was to develop candelilla wax oleogels with hemp seed oil and olive oil and use them as a fat source in the development of new plant-based ice cream assortments. Oleogels were structured with 3 and 9% candelilla wax and characterized by oil-binding capacity, peroxide value and color parameters. The oil-binding capacities of 9% wax oleogels were significantly higher than those of 3% wax oleogels, while peroxide values of oleogels decrease with increasing wax dosage. All oleogel samples are yellow-green due to the pigments present in the oils and candelilla wax. Physicochemical (pH, titratable acidity, soluble solids, fat, protein) and rheological (viscosity and viscoelastic modulus) parameters of plant-based ice cream mixes with oleogels were determined. Also, sensory attributes and texture parameters were investigated. The results showed that titratable acidity and fat content of plant-based ice cream samples increased with increasing wax percentage, while pH, soluble solids and protein values are more influenced by the type of plant milk used. The plant-based ice cream sample with spelt milk, hemp oil and 9% candelilla wax received the highest overall acceptability score. The hardness of the plant-based ice cream samples increased as the percentage of candelilla wax added increased.