In order to meet the personalized needs of the individual’s desiring of ice cream, an ice cream machine was designed based on the rapid prototyping technology. This machine included transmission, mechanical structures and control system. A Z-axis drive module and a Core XY two-axis one were adopted by the transmission module. Moreover, the mechanical structure was constructed by a stirring module to mix the raw material uniformly, combining a platform to enable raw material to stack layer by layer and an extrusion mechanism moving in XOY plane. The control system composed of a mechanism motion and a temperature control. It was found that this machine was easy to operate and cost lower, and realized arbitrarily the complex structures of personalized ice cream molding.