The This Morning presenter shared the sweet picture on her Instagram Stories, and the snap was also shared by the Pan N Ice ice cream shop.
The duo were baking an ice cream roll together on a Pan N Ice cart, and Holly's daughter was topping their creation with some delicious decorations.
The brand reposted Holly's story, saying: "Enjoy the delicious ice rolls @hollywilloughby."
Watch: Holly WIlloughby wows in red dress in Dancing on Ice throwback
In a post, the ice cream store explained that Holly and her daughter had been using one of their ice cream carts to create their delicious ice cream.
"Great photo of @hollywilloughby enjoying our event pan and making delicious ice cream rolls," they said.
Holly is very protective when it comes to her family, so for fans the picture will be a rare treat!
The pair were making ice cream together
The Dancing on Ice presenter is the doting mother to three children - two sons and one daughter. Belle is the star's second child. The youngster is nine-years-old.
Her other two children are Harry, aged eleven, and Chester, aged six.
Despite remaining secretive over her personal life, Holly couldn't resist posting a moving tribute to her husband, Dan Baldwin, on Valentine's Day.
Holly is very protective when it comes to her family
Holly posted the heart-warming picture of her and her husband enjoying themselves on a beach, as she reminisced about a previous holiday.
"My [heart emoji]," Holly simply captioned the post.
They both beamed at the camera and Dan, who wore black sunglasses, had his arm around his wife. Holly, meanwhile, wore a black bikini and a straw boater with a black band.
The presenter's followers rushed to wish the couple a special day, with one writing: "Gorgeous pic, Happy Valentine's Day to the both of you," followed by a string of heart emojis.
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