An ice making assembly for a refrigerator appliance includes a resilient silicone mold and a lifter mechanism positioned below the resilient mold for selectively deforming the mold and raising the ice cubes formed therein. A sweep assembly is positioned over the resilient mold and moves to an extended position after the cubes are raised to discharge the ice cubes at a top of the ice making assembly. A drive mechanism such as a motor drives the lifter mechanism using a cam-follower arrangement and the sweep assembly using a slotted yoke mechanism.