The video, which has been reshared by the US vice president JD Vance on X, shows Ms Good and her wife appearing to be in confrontation with the ICE officer.
He walks around the car after Ms Good tells him "that's fine dude, I'm not mad at you".
Ms Good's wife then taunts the officer, asking him twice if he wants to "come at us?"
She then says: "I say you go get yourself some lunch big boy."
Another ICE agent then strides towards Ms Good, who is behind the wheel, saying "Get out of the f***ing car".
Ms Good first reverses her car, before going forwards and close to the officer. It is unclear if the car hits the officer or narrowly misses him.
At this point, the agent exclaims in shock and shoots multiple times.
As Ms Good's car careers down the road before crashing into parked cars, the agent appears to mutter "f***ing bitch". Sky News has chosen not to air the swear words in the video.
Speaking shortly after the incident, Department of Homeland Security spokeswoman Tricia McLaughlin claimed the deceased was shot when she sought to "weaponise" her vehicle and allegedly attempted to run over an officer.
In a news conference, Minneapolis mayor Jacob Frey called those claims "bullshit".
Donald Trump accused Ms Good of "viciously" running over an officer, sparking outrage among some in the US.
While the city council in Minneapolis stated that Ms Good was "out caring for her neighbours this morning and her life was taken today at the hands of the federal government".
Speaking on Friday, Mr Trump said: "We will always be protecting ICE."
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The shooting happened on the second day of the Trump administration's immigration crackdown on the cities of Minneapolis and St Paul, which border each other.
On Friday, a vigil was held at the Minnesota State Capitol in St Paul, which borders Minneapolis, for Ms Good.
The DHS previously said it had launched what it called the largest immigration enforcement operation ever carried out by the agency in Minnesota, with 2,000 federal agents and officers expected in the Minneapolis area for a crackdown tied in part to allegations of fraud involving Somali residents.
Schools in Minneapolis were closed on Thursday and Friday as a result of the shooting.
It comes as Donald Trump said "we will get involved" if the government "starts killing people".
Demonstrations in the capital, sparked by a struggling economy, have spread to other cities, increasing pressure on the country's leadership.
Iran was largely cut off from the outside world on Friday after authorities imposed a nationwide internet blackout, with state media blaming the protests on "terrorist agents" from the US and Israel.
The death toll from the violence around the latest demonstrations has reached at least 62, with more than 2,300 other people detained, according to the US-based Human Rights Activists News Agency.
As it happened: Tehran makes death penalty threat
In the wake of spreading demonstrations, Iran's Supreme Leader Ayatollah Ali Khamenei accused protesters of acting on behalf of President Trump.
He said in a brief address that "vandals and rioters" were "ruining their own streets to make the president of another country happy", and that Tehran would not tolerate people acting as "mercenaries for foreigners".
'We will not show leniency', warns prosecutor
According to the semi-official news agency Tasnim, prosecutor Ali Salehi later said that some protesters in Iran could face the death penalty for their actions.
He added that acts of vandalism targeting public property carried out as part of anti-regime demonstrations will be considered "moharebeh", translated as "waging war against God".
"We will not show leniency toward armed terrorists," Mr Salehi said. "Their sentence is moharebeh."
The punishment for moharebeh includes execution.
Tasnim also reported that several police officers were shot dead by "armed protesters".
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Trump: 'Iran's in big trouble'
During a White House briefing about Venezuelan oil on Friday evening, Mr Trump, 79, praised the protests and said: "Iran's in big trouble.
"It looks to me that the people are taking over certain cities that nobody thought were really possible just a few weeks ago."
The US president, who bombed Iran last summer, also said that "if they start killing people like they have in the past, we will get involved".
"We'll be hitting them very hard where it hurts," he added, "and that doesn't mean boots on the ground, but it means hitting them very, very hard where it hurts".
On Thursday, Mr Trump went as far as to suggest the 86-year-old supreme leader may be looking to leave Iran.
"He's looking to go someplace," the US leader told Fox News. "It's getting very bad."
A joint statement on Friday from the leaders of the UK, France, and Germany also said the countries "strongly condemn" the killing of protesters in Iran and are "deeply concerned" about reports of violence by Iranian security forces.
The UN's human rights agency added that it is "disturbed" by reports of violence in Iran, "including reported deaths and destruction of property".
Internet blackout as protests spread
Demonstrations first began in Tehran last month - triggered by a sharp slide in the value of the rial currency - but have since expanded to all 31 of the country's provinces.
They represent the most significant challenge to the government in several years.
The internet blackout - also affecting international phone calls - started late on Thursday and extended into Friday, according to internet monitoring group NetBlocks.
Call by exiled crown prince
Large protests on Thursday night followed a call by the country's exiled crown prince for a mass demonstration.
Crown Prince Reza Pahlavi, whose fatally ill father fled Iran just before the country's Islamic Revolution in 1979, had said in a statement: "Great nation of Iran, the eyes of the world are upon you.
"Take to the streets and, as a united front, shout your demands."
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He added after Thursday's protests: "Iranians demanded their freedom tonight. In response, the regime in Iran has cut all lines of communication."
The US president said earlier on Friday he would not meet Mr Pahlavi and was "not sure that it would be appropriate" to back him.
Three prisoners on remand are taking part in the action over demands including immediate bail - with one reportedly admitted to hospital for a fifth time.
Their lawyers say that by the time of their trial, they will have spent more than a year in custody.
Prisons minister Lord Timpson has said the prisoners are charged with serious offences and remand decisions are for independent judges.
At nearly 70 days, 31-year-old Heba Muraisi has spent the longest on hunger strike and her friends say her health is slowly deteriorating.
Speaking to Sky News after visiting Muraisi on Tuesday, her friend Amareen Afzal told Sky News: "I think she's lost over 10kg now. She looks very different to the photographs that you'll see of her.
"Her face is very gaunt, cheekbones are very prominent. She's physically exhausted, very tired.
"She is constantly suffering with headaches and lightheadedness. Sometimes she gets so lightheaded she feels nauseous and that's quite common."
Ms Afzal, who is also a member of Palestine Action, said Muraisi "struggles to sleep on one side of her body because it's too painful".
"So she's aware that she's deteriorating and physically dying, you know, that her body could fail her at any moment," Ms Afzal added.
"I am obviously frightened for her and her life, I want her to be OK, but I'm incredibly proud of her and like completely in awe of her resilience and her.
"I think that word can be a little bit overused but I think there is something about her strength that comes from her commitment to her values. It is awe-inspiring to me."
Hunger striker taken to hospital
On Tuesday, Kamran Ahmed, 28, was admitted to hospital for a heart complication on day 58 of his hunger strike, his sister told Sky News.
A letter signed by 50 MPs called on the government to "respond positively and with humanity" to the hunger strikers, warning of "considerable alarm" over Muraisi and Ahmed's deteriorating health.
It said: "Independent physicians have advised that they are into a critical phase stage, in which their condition is likely to decline very quickly and irreversibly."
Birmingham-based neurologist Dr David Nicholl, who has studied prison hunger strikes for two decades, says the Palestine Action prisoners on hunger strike could be at serious risk of permanent harm and death.
"The biggest risk immediately is what's called refeeding syndrome," he said.
"If you picture yourself having not eaten for a number of days, you need to gradually - very gradually - increase your calorie intake.
"Because your body's not used to suddenly eating, there's a risk of getting very sick and actually people have died having stopped the hunger strike, but having developed refeeding syndrome."
Dr Nicholl explained that even without death, months-long hunger strikes can leave lasting health implications, including neurological and cognitive disorders, dementia, vertigo, sight loss and extreme weakness.
Ex-hunger striker describes health impact
In 1981, Pat Sheehan was among a group of Republican prisoners who went on hunger strike in Northern Ireland.
A total of 10 people died, including Bobby Sands, whose death is thought to have been a turning point in the Troubles.
Mr Sheehan went without food for 55 days before the strike was called off.
"I was the longest on hunger strike when it ended. And in theory, I would have been the next person to die," he told Sky News.
"At that stage, I weighed about between 7 and 7.5 stone. I was completely yellow with jaundice. My eyesight had nearly gone completely.
"I could make out shapes coming into the room, but I wouldn't have been able to identify anyone."
He added: "I have always said that as I became weaker physically, there is absolutely no doubt that I became stronger psychologically."
He said he knew he would not give up the hunger strike unless he was "ordered to or we achieved all our demands".
One of those on hunger strike - Lewie Chiaramello, who is type 1 diabetic - has been fasting every other day.
They all deny charges related to alleged break-ins or criminal damage, carried out in the name of Palestine Action, before the group was banned under terrorism legislation.
The trio say they will starve until Palestine Action is de-proscribed and until the UK ends support for companies that send weapons to Israel.
They are also demanding immediate bail or transfers to prisons closer to home so family members can visit.
Prisons minister Lord Timpson said: "Prison healthcare teams provide NHS care and continuously monitor the situation. His Majesty's Prison and Probation Service is clear that claims that hospital care is being refused are entirely misleading - they will always be taken when needed and a number of these prisoners have already been treated in hospital.
"These prisoners are charged with serious offences including aggravated burglary and criminal damage. Remand decisions are for independent judges, and lawyers can make representations to the court on behalf of their clients.
"Ministers will not meet with them - we have a justice system that is based on the separation of powers, and the independent judiciary is the cornerstone of our system. It would be entirely unconstitutional and inappropriate for ministers to intervene in ongoing legal cases."
The US president said on Friday he had to act or else "Russia or China will take over Greenland", stepping up his threats about acquiring the Danish administered territory.
"We're not going to have Russia or China as a neighbour," Mr Trump said. "I would like to make a deal, you know, the easy way. But if we don't do it the easy way, we're going to do it the hard way."
Mr Trump made the remarks in the White House flanked by Vice President JD Vance, US Secretary of State Marco Rubio and oil industry leaders.
They came during a press conference when he was asked about Greenland and how much money he would offer Denmark for the island.
The US president said he wasn't talking about money "yet", but he "might talk about that".
America's military operation to capture Venezuelan president Nicolas Maduro, and Mr Trump's repeated comments about the US "need" for Greenland have fuelled speculation that he could attempt to take it.
Mr Trump has said acquiring the territory - which has its own government and parliament - is a "national security priority of the United States".
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British Prime Minister Sir Keir Starmer, French President Emmanuel Macron and other European leaders have said they will defend Greenland's territorial integrity.
Danish Prime Minister Mette Frederiksen has warned that US military action to seize the territory would spell the end of NATO.
Mr Trump has justified his actions in Venezuela by citing a new self-described "Donroe doctrine" of assertiveness in the Western Hemisphere. This has left the door open to further interventions on the world stage.
Within moments, they were given the worst possible news they could have heard: their daughter had childhood dementia and was unlikely to live beyond the age of 16.
"It was delivered like a complete thunderbolt," Darren Scott told Sky News.
"We were told... there was nothing they could do. It was a moment that broke us, shattered our lives. We have never recovered."
The family, who live in Glasgow, were given an information sheet and phone number if they wanted advice - and then sent home.
Very little was, and is, known about Sanfilippo syndrome, which is what Sophia is living with. It is one of more than 140 genetic, rare neurodegenerative, metabolic conditions.
"We were left on the street, vomiting outside the hospital, collapsing, being told our daughter was going to die," the 46-year-old dad said, in a highly emotional interview.
What makes this even more distressing was, just moments before, life had been completely normal.
How was Sophia diagnosed?
Sophia's nursery had raised concerns about her reading abilities regressing. Her mum and dad ordered glasses and arranged some tests. The results left a once-bubbly, horse-obsessed, outdoor-loving girl now unable to speak or eat and walk by herself.
There is no official data on exactly how many youngsters are living with childhood dementia, but campaigners at Alzheimer Scotland estimate there are at least 400 young people in Scotland alone.
It is now almost a decade since Sophia's life-altering diagnosis was delivered. The Taylor Swift fan turns 15 years old in February.
Darren said: "Life has been robbed and stolen from Sophia. My little girl, who was all singing, all dancing, ballet, swimming, skiing... is having her life slowly and surely drained from her every day. I have to sit and watch that."
Since her diagnosis a decade ago, Sophia has lost most of her abilities. Her family say she progressed like an average child up until the age of six, when her decline slowly began.
"Throughout that period, she has lost her speech, which is incredibly difficult," Darren said.
"Those last words begin to fade and you try to hold on to them."
"There is no support, there is no funding, there is no research, there are no trials," Darren added, as he drew comparisons with the vastly different approach for adults and elderly people suffering from dementia.
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'Race against time that we're losing'
A recent report concluded parents and children dealing with dementia are being "catastrophically failed" due to a lack of knowledge and understanding of the condition.
Alzheimer Scotland's Jim Pearson, who is the chair of Childhood Dementia Scotland, told Sky News: "Children and families are often isolated. I think misdiagnosis is often the case.
"Getting a diagnosis is really difficult because actually what does happen is that it is sometimes misunderstood and mischaracterised.
"Children are often diagnosed with conditions like ADHD or potentially autism. Parents often have to fight... that journey for families can sometimes take two or three years."
Darren has travelled the world meeting medical experts in a frantic attempt to find a cure that would help his daughter and many others.
"We were told she wouldn't live long, with an average life expectancy of 16," he said.
"Sophia will be 15 in February. It's criminal that we were given that timeline as it's forever embedded in our heads in this race against time that we're losing."
The Scott family say clinical trials may finally be on the horizon. But for Sophia, whose condition is now advanced, they fear it could be too late.