Soft-serve ice cream is dispensed through a special machine capable of mixing the ingredients with air to make it very light and fluffy. Unless you have a soft-serve machine at home, you won't be able to make true soft-serve ice cream, but you can make some light and fluffy soft ice cream that will be similar, and very delicious.
Put the whipping cream in a small mixing bowl and mix it until it's thick and fluffy.
Put 2 to 3 scoops of chocolate or vanilla ice cream in a plastic container and spread the whipping cream over the top of the ice cream.
Stir in a small amount chocolate syrup, and continue stirring with a wooden spoon until the mixture is soft and creamy.
Add more chocolate syrup, a little at a time, until the soft-serve ice cream is chocolatey enough for your taste buds.
Freeze the soft-serve ice cream for about 10 to 12 hours.
Combine the milk and vanilla pudding mix in a mixing bowl, and mix it on high speed.
Add the sugar and continue to mix, followed by the non-dairy frozen topping and vanilla.
Pour the mixture into an ice-cream freezer container and continue according to the manufacturer's instructions.
To make "lite" ice cream, substitute skim milk, pudding with artificial sweetener, and lite non-dairy frozen creamer.