A device (1) and a related method for preparing and delivering a cone or cup containing ice cream (10) comprising a plurality of tubs (2) for containing the ice cream (10), a delivery station (3) for delivering a cone or cup (30) containing the ice cream (10), at least one element (4) for picking the ice cream up, preferably having the shape of scoop or spoon, a stock (5) of cones and/or cups (30), at least one restraining element (103), preferably a movable one, adapted to receive a cone or cup (30) from said stock (5), a robot (100), preferably of the substantially anthropomorphous type, equipped with a first arm (101) provided with a movable portion (101a) equipped with, or couplable to, at least one of said elements (4) for picking the ice cream (10) up, receiving means (7) to receive user's commands, wherein said movable portion (101a) can be moved from a picking up position to insert at least partially said element (4) for picking the ice cream up in one of said tubs (2) so that a loose ice cream portion is picked up, and a preparation position to arrange said ice cream portion in one of said cones or cups (30) restrained in said restraining element (103), is described.
