From low fat to high protein and Greek yogurt to almond milk, the varieties are seemingly endless.

To demystify some of the many ice cream options lurking in your supermarket's frozen section, we tested three different kinds: low sugar, high-protein; almond milk; and regular, full-fat ice cream.

First, you'll see our esteemed panel of judges rate them based on taste. Then, registered dietitian Carolyn Brown explains which kind she recommends.