We visit the "Eiscafe Venedig" ice cream café at least once every time we are in Bad Saulgau (at least twice a year for the past 15 years). The service is friendly and there is a wide choice - including children's ice creams.
Ice creams can be eaten at a table or taken away - in a cone or cup for eating immediately or packaged for taking home.
There is seating inside and outside; smoking is permitted outside, so we always sit inside.
My personal favourites are the Frucht Becher or the Bad Saulgauer Becher; the kids enjoy either the spaghetti ice cream (for the uninitiated this does not contain spaghetti!) or simple scoops of ice cream.