Police arrested the 42-year-old in Manukau on Tuesday morning.
"There were plenty of people just watching and taking videos... you can't do much."
"The offender has taken an amount of cash before fleeing into a waiting vehicle."
The man robbed Boozylato Ice Cream on Ponsonby Rd and stole cake and money.
No one was injured during the robbery.
A witness said staff were "really distressed" after the robbery.
A 26-year-old man who was a Crips gang member was previously arrested over the burglaries.
Weeks' worth of earnings stolen in armed robbery, Auckland sports bar staff held at gunpoint
Police believe the three crimes this week in Tāmaki Makaurau are linked.
There have been four similar robberies in three nights.
Two men threatened staff at Strathmore Local with a knife and bat, before fleeing with stolen cash on Sunday.
Here's what's unfolded across Auckland in just 48 hours.
The man has been arrested for sexually assaulting the reporter.
He then fled on foot with the cash.
"I saw they were all covered in black, then I knew that they were robbers."
Police told media they consider Phillips "dangerous".
Children's Minister Kelvin Davis said it's crucial to "get back on track those who are heading in the wrong direction".
Police said a person has allegedly punched another person in the head, knocking him to the ground unconscious.
"It all happened very quickly. They pretty much walked out the way they came in."
The two men allegedly threatened workers with a knife and a bat.