The breast milk concoction, called the "Baby Gaga", will be available from Friday at the Icecreamists restaurant in London's Covent Garden.
Icecreamists founder Matt O'Connor was confident his take on the "miracle of motherhood" and priced at a hefty 14 pounds ($23) a serving will go down a treat with the paying public.
The breast milk was provided by mothers who answered an advertisement on online mothers' forum Mumsnet.
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Victoria Hiley, 35, from London was one of 15 women who donated milk to the restaurant after seeing the advert.
Hiley works with women who have problems breast-feeding their babies. She said she believes that if adults realised how tasty breast milk actually is, then new mothers would be more willing to breast-feed their own newborns.
"What could be more natural than fresh, free-range mother's milk in an ice cream? And for me it's a recession beater too -- what's the harm in using my assets for a bit of extra cash," Hiley said in a statement.
"I tried the product for the first time today -- it's very nice, it really melts in the mouth."
The Baby Gaga recipe blends breast milk with Madagascan vanilla pods and lemon zest, which is then churned into ice cream.
O'Connor said the Baby Gaga was just one of a dozen radical new flavours at the shop.
"Some people will hear about it and go, 'yuck' but actually it's pure, organic, free-range and totally natural," he said. "I had a Baby Gaga just this morning and I feel great."