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dessert table featuring build-your-own ice cream tacos

Build-Your-Own Ice Cream Tacos

These homemade ice cream tacos are the perfect mix of crunchy, creamy, and sweet. Waffle shells filled with scoops of ice cream, dipped in chocolate, and loaded with toppings make this dessert fun to make and even more fun to eat.
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Prep Time 25 minutes
Total Time 25 minutes
Servings: 6 people
Course: Dessert
Cuisine: American, Fusion
Calories: 350
Ingredients Method Notes

Ingredients
  

For taco shells:
  • 6 waffle cones or flat waffle cookies
  • Small bowl of warm water
For the filling:
  • 1 pint vanilla ice cream
  • 1 pint chocolate ice cream
  • 1 pint strawberry ice cream or any flavors you like
  • Whipped cream canned or homemade
For the toppings:
  • 1 cup melted chocolate dark, milk, or white
  • ½ cup crushed cookies Oreos or graham crackers
  • ½ cup chopped nuts peanuts, almonds, or walnuts
  • ¼ cup rainbow sprinkles
  • ¼ cup caramel sauce or hot fudge
Mini marshmallows (optional)

Method
 

Step 1: Shape the shells
  1. Dip the waffle cones briefly in warm water to soften.
  2. Flatten slightly, then fold gently over a rolling pin or bowl edge until they form taco shapes.
  3. Place on parchment paper to dry and firm up.
Step 2: Dip in chocolate
  1. Melt chocolate in the microwave in 30-second bursts.
  2. Dip the top edges of the taco shells in chocolate.
  3. Add sprinkles, nuts, or cookie crumbs while the chocolate is wet.
  4. Set aside to harden.
Step 3: Fill with ice cream
  1. Scoop softened ice cream into each taco shell.
  2. Don’t overfill—leave room for toppings.
  3. Place filled shells on a tray and freeze for 15–20 minutes to firm up.
Step 4: Add toppings
  1. Drizzle caramel, fudge, or more melted chocolate.
  2. Sprinkle crushed cookies, nuts, or candy.
  3. Finish with whipped cream or marshmallows.
Step 5: Serve and enjoy
  1. Serve right away for a gooey bite, or keep in the freezer until you’re ready.

Notes

  • If you want the shells extra crunchy, line the inside with a thin coat of melted chocolate before adding ice cream.
  • These can be made ahead of time and frozen, but toppings like whipped cream should be added right before serving.
  • Kids love decorating their own—turn it into a taco bar for parties.