The cheap answer is "yes" -- see custard ice creams as an example. Typically though, "cooking" requires heat, and most non-custard ice creams wouldn't be cooke

The cheap answer is "yes" -- see custard ice creams as an example. Typically though, "cooking" requires heat, and most non-custard ice creams wouldn't be cooked. Even in the same phrase when talking about cooking other things, you'd say something like "I'm cooking steak and also making ice cream." I'm sure some regions use the word differently, and adding a bit of ambiguous context might make on-the-fence regions more likely to use "cook" for cold-prepared dishes. E.g., if you talk about cooking dinner or cooking a meal and then list the things being prepared (one of which is ice cream), the verb "cook" is, in some sense, being applied to the ice cream. That ambiguity can color the verbs you subsequently choose when referring to just the ice cream.