I wonder how titty-milk ice cream would taste.
If you mean human titty-milk?
In Questions We Can Answer: Not Good, in general.
We're set up by evolution to not like the taste past the age of 3-4 to not compete with our younger siblings, or be crowded out by our older siblings.
As with all things Biology, it's more of a rule of thumb, like lactose
tolerance in adults, and there seem to be peeps that can/have developed a taste for the stuff.
But there's some lipids/fatty acids mixed in on purpose that we're not supposed to like.
The closest animal "taste" mix to humans is goat's milk. Which is why babbies love that stuff and can thrive on it, and for adults it's .... very much an acquired taste. Even as cheese where most of that stuff has been removed.