I want a milk ice cream希望能帮到你哈，这是最简短的
Excuse me, may I have a mike icecream?我的问题时 我在国外到还从来没有看到过“牛奶冰激凌”
直接按你的字面意思翻译：I want a piece of icecream with milk
I want a milk ice-cream.
