Homemade Choco Tacos

This delicious homemade Choco Tacos recipe makes a fantastic summer treat. Made with a taco-shaped waffle cone, creamy vanilla ice cream, and rich melted chocolate, it’s a fun nostalgic dessert that everyone loves.

Inspired by the original Choco Taco once found on the ice cream truck, this copycat recipe lets you recreate your favorite treat right at home.

These sweet treats use a homemade waffle cone shell, filled with store-bought ice cream or your own ice cream base, then dipped in chocolate and topped with rainbow sprinkles, nuts, or other different toppings. The final result is fun, delicious, and totally customizable.

Why You’ll Love This Recipe

This copycat Choco Taco recipe is always a crowd-pleaser. It’s a dessert made with love, and even more fun to make with family or friends.

Make your own Choco Tacos using a waffle cone maker or waffle iron, and shape them using a wooden spoon handle or muffin tin to create the perfect taco shell shape. It’s a great way to relive the beloved item many miss from the ice cream truck.

You can fill the waffle taco shells with your favorite ice cream flavor, whether it’s vanilla, strawberry ice cream, or something else from the grocery store. Dip them in milk chocolate or dark chocolate, then roll them in crunchy peanuts, cookie pieces, or rainbow sprinkles for added crunchy texture.

The best part? These chocolate-covered ice cream tacos are easier than you think to make, and perfect for hot days when you’re craving a cool, sweet bite during the summer heat.

These fun ice cream tacos are just one of our easy Ice Cream Dessert recipes that you will want to bookmark.

These make for a fun, memorable dessert idea. You can change up the ice cream flavors, toppings, and even the outer candy layer if you like. 

Ingredients for dessert tacos

Waffle Taco Cones

• Eggs  – You will need both eggs and egg whites for this recipe
• Flour – I use all-purpose flour
• Brown Sugar – I like light brown sugar for this recipe

Ice Cream Tacos

• Ice cream – I used Vanilla, but you can use your favorite ice cream flavor from the grocery store.
• Chocolate Candy Melts or milk chocolate chips for the chocolate coating
• Sprinkles or Nuts (chopped peanuts, pecans or almonds work well)

Equipment and kitchen tools

• Microwave-safe Bowl
• Waffle iron
• Taco Holder or standard muffin tin
• Parchment paper or Wax paper
• Cookie Sheet

How to make copycat choco tacos

First, you will start with the taco shells.

1. Preheat the waffle iron. In a medium bowl, mix together waffle ingredients.
2. Drop 1/4 cup of batter into the center of the griddle when warm. 
3. Close and cook for) 2–3 minutes until crisp and golden brown.
4. Remove immediately and place on taco shell form. Allow the waffles to set and cool on a parchment lined paper for 3–4 minutes before removing and cooling completely.

Making the Tacos

1. Allow ice cream to come to room temperature for about 10 minutes.
2. Spoon 3–4 tablespoons of ice cream into the shells.
3. Melt chocolate chips or candy melts in the microwave (stirring every 30 seconds).
4. Dip the top of the tacos in the fudge and immediately add toppings (sprinkles, coconut or nuts).
5. Place in freezer for 15–20 minutes, or until ready to serve.
   

Tips for the Best Results

• Use a magic shell topping to make the chocolate coating quick and easy.
• Make the waffle cones earlier in the day or even the day before. Store them in an airtight container with a damp paper towel to help retain flexibility.
• Use a microwave-safe bowl and heat chocolate in second increments or 30-second intervals until smooth.
• Add coconut oil to chocolate chips to help with melting and create a glossy finish.
• Let the ice cream sit at room temperature for 10 minutes before filling. This helps it spread easily using the back of a spoon.
• Use an upside-down muffin tin or handle of a wooden spoon to hold the taco shell shape while the waffle cools.
• Assemble your filled tacos in a loaf pan lined with parchment paper, then cover with plastic wrap to avoid freezer burn.
• Make sure when you cook your waffle taco shells, that they are firm not soft.
• If you don’t have a waffle maker, you can use a crepe pan or small skillet.
• Candy melts work better than using chocolate chips.

Substitutions and Variations

• Ice Cream: Use store-bought ice cream or your own ice cream base. Try strawberry, chocolate, or even a dairy-free option.
• Toppings: Mix it up with cookie pieces, crunchy peanuts, shredded coconut, or crushed candy bars.
• Chocolate Coating: Use dark chocolate, milk chocolate, or flavored colorful candy melts for a fun twist.

FAQs About This Recipe

More Ice Cream Dessert Recipes

More Ice Cream Recipes

• Pineapple Coconut Ice cream – this no-churn recipe is delicious and tastes like a pina colada!
• Peach No Churn Ice Cream – fresh peaches make this a perfect summer treat!
• Berry No Churn Ice Cream – Strawberries and blueberries make this a favorite for holidays.
• Strawberry Kiwi No Churn Ice Cream – fresh strawberries and kiwis come together to make this colorful, tasty dessert combination.
• Strawberry Lemonade Popsicles – The delicious flavors of strawberry and lemonade in a frozen treat!
• Cookie Ice Cream Sandwiches – The BEST homemade cookie ice cream sandwiches. 

Don’t forget to bookmark this recipe.

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