The effects of various types of added thickeners (gelatin, xanthan gum, and ι-carrageenan) on the physical and sensory properties of espuma were examined using soymilk and milk. Foamability of the soymilk N2O espuma and milk N2O espuma decreased with increasing concentrations of added thickeners for both. By contrast, the stability of soymilk N2O espuma and milk N2O espuma tended to increase as the concentration of the thickener increased, probably because the increase in the rate of liquid separation became gradual. It was suggested that the combination of food components and thickeners had different physical properties and that the optimal thickeners for improving stability differed depending on the food. As a result of sensory evaluation by the youth group and the elderly, both groups perceived soymilk N2O espuma to be easiest to swallow, and soymilk CO2 espuma to be the most bitter. The youth group perceived soymilk N2O espuma supplemented with ι-carrageenan to be the stickiest. Soymilk and milk espuma supplemented with thickeners show promise as a new method of preparing diets for swallowing control.