This study aimed to evaluate the using of quinoa and chia to improve the functional properties and enhance the health benefits of soft-serve ice milk and ice cream. Treatments were prepared with different proportions of fresh milk, quinoa & chia flour, cream, and skimmed milk powder to obtain mixes according to fat and total solids ratios. The product was examined for quality by physicochemical, rheological, and sensory properties analysis. The differences in the sensory scores for respective attributes were highly significant (p ≤ 0.05). Treatments with quinoa and chia flour exhibited higher viscosity and improved concentration of polyphenols availability and antioxidant activity. Ice milk CIM (prepared by replacing fresh milk with chia flour) and ice cream CIC (prepared by replacing fresh milk with chia flour) samples took a longer time to melt. Nutritional quality values of ice cream samples were quite high relatively. Ice milk and ice cream prepared by replacing fresh milk with chia and quinoa flour tend to be a benefit to human health due to its low atherogenicity (AI) & thrombogenicity (TI) index and suitable n-6/n-3 ratio. But, the desaturase activity (DA) had close values between all treatments. The red-green coordinate (a*) and yellow-blue coordinate (b*) were significantly higher (p ≤ 0.05) in CIM (ice milk prepared by replacing fresh milk with chia flour), QIM (ice milk with quinoa flour), CIC (ice cream prepared by replacing fresh milk with chia flour), QIC (ice cream with quinoa flour) and lower (p ≤ 0.05) in MIC (control ice cream) and MIM (control ice milk). Due to the nutritional and functional characteristics conferred to the soft-serve ice milk and ice cream, the use of the quinoa (QIC and QIM) and chia flour (CIC) showed an adequate potential to improve the functional properties and enhance the health benefits of soft-serve ice milk and ice cream.