Police say the teens drove through Pennsville Township in a light blue truck and played Mr. Softee music through the stereo.
The truck was driven by a 17-year-old and two 16-year-olds were passengers.
Authorities tell the Today's Sunbeam newspaper there's no evidence any youngsters were called over to the vehicle.
Police notified the teens' parents and charges may be pending.
Their names were not released because they are minors.