Thermophysical properties and the quality parameters of vanilla dairy ice cream were evaluated as a function of formulation. The sucrose were substituted for alternative sweeteners, and whey powder was used to adjust the nonfat solid content. A mixture design for four ingredients (sucrose, fructose, stevia, and whey powder) was applied. The ice cream composition was correlated with the thermophysical properties (density, viscosity, heat capacity, thermal diffusivity, and thermal conductivity). The optimal formulation, based on the quality parameters (time until first drop falls, melting time, and overrun), was determined. Additionally, the quality parameters were correlated with the thermal properties. The whey powder had a positive effect on the variables measured, improving the quality parameters. The best formulation was 12.1782 % whey powder and 0.0218 % stevia. No significant sensory instead difference was found between this formulation and a commercial ice cream sample. Sucrose was totally replaced with stevia and whey powder in the final product.