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Homemade Choco Tacos

Homemade Choco Tacos Recipe

🍦🌮 Homemade Choco Tacos: The Nostalgic Summer Treat You’ll Fall in Love With! ✨
Ready to take a sweet trip down memory lane? These Homemade Choco Tacos are here to bring back all the summer vibes—and they’re even better than you remember! Crisp, golden waffle cones shaped like taco shells cradle a rich, fudge-swirled no-churn vanilla ice cream, and the whole masterpiece gets a dip in luscious chocolate and crunchy chopped peanuts. Pure magic in every bite! 🎉🍫
Perfect for backyard BBQs, pool parties, or just a sunny afternoon pick-me-up, these Choco Tacos are a playful, crowd-pleasing treat that’s surprisingly easy to make at home. Plus, you get to customize every dreamy detail—from the flavor of the ice cream to the toppings you sprinkle on top!
Why You'll Love These Homemade Choco Tacos:
Fun, nostalgic, and totally customizable
No churn ice cream means no special equipment needed
Crispy, sweet, and creamy all in one epic handheld dessert
Perfect for summer parties or anytime you’re craving a sweet adventure
Once you take that first glorious bite—crispy shell, creamy center, chocolatey crunch—you’ll wonder why you ever waited this long to make them yourself! 😍🌞
Ready to create the ultimate summer treat? Let’s get started—you’re just a few steps away from homemade Choco Taco heaven! 🍦🌮✨
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Ingredients
  

Ice cream base:

  • 2 cups heavy cream cold
  • 1 14 oz can sweetened condensed milk
  • 1 tbsp vanilla bean paste or 2 tsp vanilla extract
  • Pinch of salt
  • Fudge ripple:
  • 2 tablespoons cocoa powder
  • 2 tablespoons granulated sugar
  • 2 tablespoons heavy cream
  • 1 tablespoon unsalted butter
  • ½ teaspoon vanilla extract
  • Pinch of salt

Waffle cones:

  • 2 egg whites
  • 3 ½ tablespoons granulated sugar
  • 3 ½ tablespoons brown sugar
  • ž teaspoon vanilla extract
  • ⅛ teaspoon salt
  • ⅔ cup flour
  • 2 tbsp melted butter

For coating:

  • 1 ½ cups chocolate chips
  • 1 ½ tablespoon coconut oil
  • ž cup finely chopped peanuts

Instructions
 

  • Make the fudge sauce for the ice cream ripple. In a small saucepan, whisk together the cocoa powder, sugar and heavy cream over medium-low heat. Once it starts to heat up, add in the butter and whisk until the butter is melted and the mixture is smooth and shiny. Remove from heat and whisk in the vanilla and salt. Set aside to cool.
  • Prepare the ice cream base. Add heavy cream to a stand mixer (or a bowl with a hand mixer) and beat until stiff peaks form (a few minutes). In a large bowl, mix together condensed milk, vanilla bean paste and salt. Add about 1 cup of the whipped cream in and gently fold it in, then add in the remaining whipped cream and fold until no lumps remain.
  • Layer the ice cream. Pour Âź of the ice cream base into a loaf pan, then drizzle on ⅓ of the fudge sauce. Repeat 3 more times, finishing with a layer of ice cream. Freeze until set – about 3 hours.
  • Make the waffle cones. Add egg whites, both sugars and vanilla extract to a bowl and beat with a hand mixer until well combined. Add in salt and half of the flour and continue mixing until smooth. Add in remaining flour and melted butter and mix until a smooth batter forms. The batter should be thick. Preheat waffle cone maker to just above medium heat. Place one heaping tablespoon of batter in the center of the waffle cone maker, then close it. Every waffle cone maker will cook differently, but ours took about 3 minutes to get golden brown. Remove with tongs, let cool for a few seconds, then (carefully) shape into a taco shape with your hands and hold in place for 15 seconds. They will harden in less than a minute.
  • Scoop ice cream into shells and freeze briefly. Scoop slightly softened ice cream into each of the “taco” cones, using a small spatula or the back of a spoon to smooth out the ice cream. Place in freezer for 10-15 minutes.
  • Prepare peanut-chocolate topping and assemble. Add chocolate chips and coconut oil to a microwave safe bowl. Microwave in 30 second intervals, stirring well between each interval, until fully melted. Stir in chopped peanuts. Dip the top of ice cream taco in the chocolate peanut mixture. Return to freezer for 5-10 minutes, or until hardened. Keep stored in freezer.

Notes

Make it dairy free: Use your favorite store-bought nondairy ice cream for the filling, and use nondairy butter in the waffle cone batter!
Be sure to add the choco tacos back to the freezer after stuffing them with ice cream. Odds are, you will have some melting that will need to re-solidify. You also want the tacos to be as cold as possible when you dip them in the chocolate coating, so that it sets quickly.
Short on time? Just use store bought ice cream instead.
Let the fudge sauce cool before layering it into the ice cream.
Let the taco shells cool before filling them with ice cream.
Make sure the chocolate peanut topping has cooled slightly before dipping the ice cream-filled shells into it.