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Homemade Choco Taco

ByXena Kai Published

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These Homemade Choco Tacos are a definite crowdpleaser! These ice cream tacos consist of a waffle taco shell stuffed with vanilla ice cream, dipped in melted chocolate, and topped with peanuts. The hardest part is not eating all of them in one sitting.

homemade ice cream tacos. they are covered in chocolate and peanuts.

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No need to run after the ice cream truck to eat your favorite frozen treat. With this copycat recipe, you can make your own Choco Tacos at home that are better than the original Choco Tacos. 

The best part is that you can customize your homemade ice cream tacos to your heart’s desire! 

Close up of a choco taco. it shows the peanuts and the melted chocolate.

Why You’ll LOVE Homemade Choco Tacos

  • Better than the original!!!
  • Customizable! Use your favorite ice cream flavors and toppings.
  • For sure crowd pleaser; impress your family and friends with this delicious dessert!
  • Simple ingredients that are easy to find.
  • Easy and fun to make!
homemade ice cream tacos shells on parchment paper.

Key Ingredients For Ice Cream Tacos

  • Ice Cream: The classic sweet treat uses vanilla ice cream. However, you can use any ice cream flavor that your heart desires! 
  • All-Purpose Flour: This is the base of the shells. I recommend using all-purpose flour. You can use whole-wheat flour.
  • Butter: Flavorful! However, if you do not have butter, you can substitute with vegetable oil, coconut oil, or avocado oil.
  • Sugar: For sweetness. Also helps form the crunchiness of the shell
  • Melted Chocolate: Used for the coating. I use semi-sweet chocolate chips. You can use dark chocolate, milk chocolate, or even colorful candy melts.
  • Nuts: These are optional. I use peanuts. But feel free to use other nuts or toppings such as macadamia nuts, almonds, or even sprinkles!
two homemade ice cream tacos on a plate

Special Tools to Make The Waffle Shell

In order to make the taco-shaped waffle shell, you will need a waffle cone maker. I recommend the Proctor Silex Waffle Cone Maker that is available on Amazon. That is the one that I own. These are used to make waffle bowls and waffle cones.

You can also stop by your local Walmart or Target and pick up a waffle cone maker there.

choco tacos that are filled with ice cream. they are on a plate. there are chocolate chips and a measuring cup filled with chopped nuts.

Overview: Homemade Ice Cream Tacos

Step 1: Make The Batter. The batter for the ice cream shells consists of easy-to-find ingredients that I bet you already have (eggs, flour, and butter). If you don’t have them, you can make a trip to the local grocery store and pick them up.

Step Two: Make the Waffle Cone Taco Shell. Use a waffle cone maker to cook the batter. Then, while the cone is still warm, shape it into a taco. 

Step Three: Fill with ice cream. Use your favorite ice cream flavor! The original uses vanilla ice cream. However, since this is a copycat choco taco recipe, you can customize it to your heart’s desire. Use chocolate ice cream, strawberry ice cream or whatever flavor you have. Store-bought ice cream works great.

Step Four: Dip the ice cream taco in chocolate and sprinkle with toppings! Use nuts, toffee bits, or rainbow sprinkles. These toppings will provide a crunchy texture.

waffle cone taco shells that are filled with ice cream. They were dipped in chocolate. there are chopped nuts.

How To Store Ice Cream Tacos

To store ice cream tacos, place them in an airtight ziplock bag. Place them in the freezer. These will last in the freezer for up to two months.

You can store unused shells. To store the waffle shells, place them in an airtight container at room temperature for up to one week. 

homemade choco tacos on parchment paper. They are surrounded by chopped nuts and chocolate chips
5 from 1 vote

Best Homemade Choco Tacos

 ice cream tacos consist of a waffle taco shell stuffed with vanilla ice cream, dipped in melted chocolate, and topped with peanuts.
Xena Kai
Prep Time: 19 minutes
Cook Time: 10 minutes
Resting Time 1 hour
Total Time: 1 hour 29 minutes
Servings: 15 ice cream tacos

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Ingredients
 

Waffle Taco Shells

  • 2 (2) Egg Whites
  • 7 Tbsp (84 g) Granulated Sugar
  • ½ tsp (0.5 tsp) Vanilla Extract
  • ⅛ tsp (0.13 tsp) Kosher Salt
  • ⅔ Cups (83.33 g) All-Purpose Flour
  • 2 Tbsp (28 g) Melted Butter cooled to room temperature

Ice Cream and Toppings

  • 2 ½ Cups (330 g) Vanilla Ice Cream
  • 1 Cup (180 g) Chocolate Chips semi-sweet or dark chocolate
  • ¼ Cup (54.5 g) Coconut Oil
  • ½ Cup (73 g) Chopped Peanuts almonds, walnuts, or any nut of your choice

Instructions
 

  • Make The Batter: In a small mixing bowl, mix the egg whites, sugar, and vanilla extract for one minute. Then, add the kosher salt and half of the all-purpose flour and mix until there are no dry bits of flour. Then, add the melted butter and remaining flour. Miix until a smooth batter forms.
  • Make The Taco Waffle Shells: Preheat your waffle cone machine to medium. Brush butter on both surfaces of the hot cone waffle machine. Pour one tablespoon of batter to the center of the machine. Then, close the lid and let it cook for one to two minutes. The shell should be a light golden brown when done cooking.
  • Shape into A Taco-Shaped Waffle Cone: Safely remove the shell from the waffle cone machine with a chopstick, a wooden fork, or a wooden skewer. While it is still warm, form it into a taco shape. Note: The shell is hot but cools quickly. Be careful not to burn yourself, but also be quick to shape the shell before it cools down.
  • Repeat making the taco waffle shells for the rest of the batter.
  • Fill The Shells: Using a small spoon or ice cream scooper, add ice cream into the shells. Smooth the outside of the ice cream with a knife or spoon. This will make the chocolate shell look prettier.
  • Freeze The Shells for one hour. This will firm up the ice cream, which will make it less likely to melt when dipped in chocolate.
  • Melt The Chocolate: Add the chocolate chips and coconut oil into a small microwave-safe bowl. Microwave at 50% power for 30-second increments. Stir in between the increments. This will prevent your chocolate from burning. Once the chocolate chips are completely melted, let this bowl sit at room temperature for five minutes to cool down.
  • Make The Chocolate Coating: Dip the ice cream shell into the melted chocolate, making sure to coat all of the ice cream. Allow excess chocolate to drip off. Add chopped peanuts to the chocolate shell before the chocolate hardens.
  • Eat and enjoy! Or immediately place in the freezer.

Notes

  • Check Out My Blog Post for the helpful recipe video.
  • Special Tools (affiliate links): Waffle Cone Maker 
  • Swap the Filling: Instead of vanilla ice cream, you can fill the waffle taco shells with chocolate ice cream, strawberry ice cream, or use your favorite ice cream flavor!
  • How To Store: Store the ice cream tacos in a freezer safe container for up to two weeks. 
  • Other Copycat Recipes You May Like:

Hi, I’m Xena, the creator of Food Over Comfort. I live in Las Vegas with my dachshund Luna. I have worked in social media for over ten years as a creator. It wasn’t until a couple years ago when I quit being in front of the camera and started baking up delicious treats in my kitchen. All I wanted to do was bake using simple ingredients that were affordable and easy to find. However, there was one problem: I didn’t know how to bake!

That is how Food Over Comfort started. I got out of my comfort zone and taught myself everything about baking. Nowadays, everyone tells me that my baking is so good. These recipes should not be kept secret; these should be shared with the world!

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