In one embodiment, a method of forming frozen ice cream pellets includes supplying an ice cream premix into a loading vessel; loading a loading cylinder with the ice cream premix from the loading vessel, the loading cylinder being connected to the loading vessel; applying a machine-controllable force to expel the ice cream premix from the loading cylinder as ice cream premix pellets; and exposing the ice cream premix pellets to a cryogenic fluid, thereby at least partially freezing the ice cream premix pellets.