It is, but...
"Soft drinks, candy, cookies, snack crackers, and ice cream are food items and are therefore eligible items"Most of what's not allowed is non-food items (soap, beer, tobacco) or already prepared/hot items .
https://www.fns.usda.gov/snap/eligible-food-items
There is another program that provides food for pregnant women and new mothers called WIC. That program is more restrictive...it has a short list of what you can get versus a longer list of what you can't. https://www.fns.usda.gov/wic/wic-food-packages-regulatory-re...