Different foods, such as bread incorporate high heat nonfat dry milk (HH) to their formulation to improve their texture and mouthfeel. Exposing low heat nonfat dry milk (LH) to a radio frequency dielectric heat (RFDH) treatment can enhance the acid-gelling properties of dairy proteins to a point where they can provide or exceed the gelling properties of HH. The aim of this study was to apply a RFDH treatment to LH to improve its gelling properties while maintaining solubility and color. A RFDH unit was used to heat LH to 85°C and held for 3 or 6 h (85/3, 85/6). HH, which was not RFDH-treated was the control and used to compare the gelling properties against the RFDH-treated samples. As powders, samples were evaluated for solubility (NSI), soluble aggregate formation, and color. As GDL acidified gels, evaluations included water holding capacity (WHC), syneresis, firmness, and cohesiveness. Three replications were conducted and evaluated using one-way ANOVA. Significant means of the RFDH-treated LH were compared against HH using the Dunnett’s method. All tests were determined at a P ≤ 0.05. Results showed that the gels made from 85/3 and 85/6 maintained good solubility, ~4% and 2.6% greater than the HH, respectively. However, the RFDH treatment increased the yellowness by 6.5% and 13.4%, respectively. Based on the ΔE values, this color change was not visible for consumers. The 85/3 and 85/6 gels were ~20% and 30% more firm and ~7% and 8% more cohesiveness, respectively compared with the HH gel. However, the WHC was significantly lower (~15% and 13%) and the syneresis was significantly higher (~90% and 163%), respectively when compared with the HH gel. The formation of soluble aggregates during the dry heat treatment may contribute to the improved gel firmness and cohesiveness observed in the present study. These results suggest that RFDH treating LH at 85°C for 3 h can alter proteins to have similar firmness and cohesiveness as the HH gels without drastically affecting their solubility and color. The LH that was RFDH-treated at 85°C for 6 h exhibited improved firmness and cohesiveness of the acid-induced gels, but it had lower quality parameters such as increased syneresis while exhibiting more yellowness vs. the 85/3 sample.