When was the MILKY WAY® Ice Cream Bar introduced? In 1995 MILKY WAY® Vanilla Ice Cream Bar on a stick with Milk Choclate was introduced. MILKY WAY® Ice Cream Bar on a stick has the same delicious chocolate and caramel taste of a regular MILKY WAY® Bar. The ice cream version is just another consumer choice for those who love ice cream and desire another great way to enjoy the great taste of the MILKY WAY® Brand. Close Window