The agro-food industry plays a crucial role in enhancing living standards; however, inadequate losses and waste management persists as significant challenges within its processes. Particularly, mango and cheese processing generate substantial waste, leading to ecological disruptions, economic losses, and concerns related to food security and public health. To address these issues, this study was aimed at utilizing this waste to produce a high-quality ice cream base, thereby valorizing the discarded materials. This approach not only adds nutritional value but also contributes to food security and sovereignty. The raw materials (cheese whey, oil, and starch) were subjected to physicochemical characterization, leading to the development of three different ice cream base formulations. Subsequently, the ice cream bases were evaluated for their physicochemical, functional, and sensory properties. The findings of this study revealed that mango seed kernel and cheese whey waste contain valuable components that enable the creation of an ice cream base with excellent physicochemical, functional, and sensory properties. Moreover, this research showcases a promising solution for effectively valorizing food waste and generating value-added products such as ice cream, thus promoting sustainability and resource optimization within the agro-food industry.