This dessert has a rich history dating back to ancient Rome and Egypt but later it was brought to Florence where cook Bernardo Buotalenti, cited as the inventor of modern ice cream, made it for Catherine de Medici in 1565. She then took it to France with her, where it increased in popularity.
By the early '20's the first ice cream machine was created in Sicily leading to the creation of gelato carts. These carts and gelateries are everywhere today and you can even find gelato varieties at your local grocery store but if you're feeling ambitious try making your own
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