Academics and industry have invested in creating novel and functional ice creams to meet the growing demand for frozen foods that promote human health and nutrition. This study aimed to investigate the effect of medium-chain triglyceride (MCT) oleogels that prepared by three different gelators on the development of ice creams, as a complete substitute for hydrogenated palm kernel oil (HPKO). The results showed that both beeswax (BW) and phytosterol-oryzanol (PS-GO) caused the fat crystal to grow into three-dimensional spherulites, while ethylcellulose (EC) inhibited crystal size growth. Among the three types of oleogel-based ice creams, the BW sample exhibited the highest coalescence degree, followed by PS-GO and EC. The difference was due to variations in crystal growth and rigid crystal strength. Both BW and PS-GO oleogels improved the firmness of the ice creams by enhancing the formation of crystal network structures in the emulsions. The EC oleogel did not contribute to the overrun of the ice cream. The well-structured fat with partially coalesced aggregates can stabilize the bubbles and hold the aqueous phase of ice creams, preventing the outflow during meltdown. Oleogels that form crystal networks can be employed as a preferable replacement for HPKO in the production of ice cream with superior texture.