Chelmsford Creamery is a little roadside ice cream shack with a huge parking lot, on 3A just south of I-495. (The internet being what it is, this was Gary's Ice Cream from 1973 to 2020 and searching still turns up pictures of the old place.) Counter service with an overhang, and plenty of picnic benches out front and around the lot.
First Visit
I had a bright yellow Butter Pecan, which had more of a buttery taste than I've had before; I made the mistake of having it on top of an Orange Sherbet (I was craving "creamsicle" after missing out on it at Cabot's and it was good - but combining them was a mistake on my part.)
They also had a good strawberry ice cream, with strawberry bits in it. Overall they had a pretty good range of "summer" flavors along with the traditional New England ones.
I do owe them a return visit to get an orange sherbet frappe, and also to try their "Chocolate Decadence" Flavor.