Ice is solid state of water. when water frozen into a solid state it become ice.
to make ice u have to cool liquid water below 0℃ (273.15K, 32 F) at standdard atmospheric pressure.
you can convert most of liquid in to ice like milk. for milk to ice pour milk in some container and frizz it below 0℃ for 5 to 6 hour and your milk ice is ready. this ice is look different from water ice.