Choco Taco-Inspired Ice Cream Sandwiches

This ice cream-filled waffle taco is drenched in chocolate

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Who could forget the ice cream-filled waffle tacos of earlier days? Not us. That's why we have recreated them in a slightly more refined form (we're adults now, clearly). A citrus-laced pizzelle waffle taco is filled with vanilla ice cream before getting coated in a chocolate shell, topped with toasted almonds and crushed speculoos cookies (watch the video).

Making the waffle tacos is easy, but you have to be quick. Folding them while they're still hot is key, since they cool and harden within a minute. You can easily drape them over any straight, narrow edge, such as a baking dish, to form the taco shape. Then just make sure you use softened ice cream, so you can fill the shells without breaking them. Just dip them in chocolate and decorate, and you're ready to eat.

Check out our favorite ice cream recipes.

Recipe from the Tasting Table Test Kitchen

Choco Taco-Inspired Ice Cream Sandwiches
5 from 30 ratings
Better than the ones you had as a kid, these homemade chocolate tacos are topped with almond and speculoos cookies.
Prep Time
Cook Time
Total time: 35 minutes
  • :::For the Pizzelle Taco Shells:¾ cup all-purpose flour:::
  • ½ tablespoon cocoa powder
  • ¼ teaspoon baking powder
  • ¼ teaspoon kosher salt
  • ¼ cup sugar
  • 2 eggs
  • 2 tablespoons whole milk
  • ½ teaspoon lemon zest
  • ½ vanilla bean, seeds scraped
  • 5 tablespoons butter, melted and cooled, plus more for greasing
  • :::For the Filling:4 cups vanilla ice cream, softened:::
  • :::For the Coating:1 cup semisweet chocolate chips, melted:::
  • ¼ cup coconut oil
  • 2 teaspoons corn syrup
  • Sliced almonds, for garnish
  • Crushed speculoos cookies, for garnish
  1. Make the pizzelle taco shells: In a medium bowl, whisk together the flour, cocoa powder, baking powder and salt. In another bowl, combine the sugar and eggs. Using an electric hand mixer, beat until pale yellow and thick, 4 minutes. Stir in the milk, lemon zest and vanilla seeds. Gently fold in the flour mixture until just incorporated, followed by the melted butter.
  2. Heat a pizzelle iron. Working in batches, brush the iron with melted butter and add 1 tablespoon of batter to each mold. Close cover; cook until the wafers are golden, 2 minutes. Fold the pizzelles into a taco shape, preferably using a taco shell mold, and let cool completely to harden.
  3. Fill and coat the tacos: Line a sheet tray with parchment paper. Fill each shell with vanilla ice cream, then place on the sheet tray and freeze until set, 15 minutes.
  4. In a small bowl, stir the melted chocolate, coconut oil and corn syrup until smooth. One at a time, dip the edges of the ice cream-filled tacos into the chocolate then return to the tray and sprinkle with the sliced almonds and crushed cookies. Let sit for 1 minute for the shell to harden, then serve. If not serving immediately, wrap them in plastic wrap and return to the freezer. Serve within 2 days of making.
Calories per Serving 76
Total Fat 6.8 g
Saturated Fat 4.8 g
Trans Fat 0.1 g
Cholesterol 26.4 mg
Total Carbohydrates 3.6 g
Dietary Fiber 0.1 g
Total Sugars 3.5 g
Sodium 39.7 mg
Protein 0.7 g
The information shown is Edamam’s estimate based on available ingredients and preparation. It should not be considered a substitute for a professional nutritionist’s advice.
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