This study was conducted in order to monitor the extraction conditions for a gel-state beverage development of the Opuntia ficus-indica stem. Moreover, the organoleptic properties of the beverage prepared by the extract were optimized using the response surface methodology (RSM). The determination coefficient ($R^2$) value for the extraction yield of the stem was 0.95 (p<0.01). The maximum extraction yield was obtained at an extraction temperature of $93.02^{circ}C$, 123 min of extraction time and 22.57 mL/g of water to sample. The beverage was prepared with the addition of xanthan gum, sugar and persimmon vinegar to the extract with a central composite design. The maximum organoleptic color of the beverage was obtained at 0.38% xanthan gum, 7.91% sugar and 0.76% persimmon vinegar. The maximum organoleptic flavor was obtained at 0.30% xanthan gum, 7.06% sugar and 1.26% persimmon vinegar. The maximum organoleptic taste was obtained at 0.22% xanthan gum, 10.36% sugar and 0.90% persimmon vinegar. The maximum overall palatability (3.92 score) of the gel-state beverage was obtained at 0.35% xanthan gum, 10.83% sugar and 1.21% persimmon vinegar.