In the present investigation, yam mucilage was evaluated as a stabilizer and emulsifier in the formulation of vanilla flavored ice cream; physicochemical, rheological, and stability characteristics were determined. A completely randomized bifactorial design was used (yam mucilage: Carboxymethylcellulose ratio with the following levels: 100:0, 80:20, 50:50, and 20:80, and stabilizers concentration with levels of 0.4 and 0.8%). Results showed an increase in the protein content present in ice cream mixture as the amount of mucilage increases. Rheologically, it was found that ice cream has the characteristic behavior of a pseudoplastic fluid, presenting a viscoelastic structure where elastic behavior predominates. In addition, ratios with a higher content of mucilage incorporated a greater volume of air and presented the longest melting times, delaying drops falling time; in the same way mucilage gives ice cream a freezing temperature between −6.1 to −2.8 °C, indicating that the application of mucilage in food industry is possible due to its nutritional value, and it gives ice cream stability properties.