The seaside landing at Winterton-on-Sea took many locals and holidaymakers by surprise.
The owner of Winterton Dunes Beach Cafe, Carmel Shiggins, said: "People had been coming in asking what they were doing, was there an emergency? And I said no, they come in for an ice cream."
According to The Daily Telegraph, the pilots purchased three Magnum Classics and one white chocolate Magnum.
Francis Ford, an employee at the cafe, said that after enjoying the ice cream "they went outside and waved to us all as they left".
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