Homemade Choco Taco Recipe

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This Homemade Choco Taco Recipe will be your new favorite treat! A crispy waffle cone shell is stuffed with sweet vanilla ice cream and topped with chocolate fudge and your favorite goodies. This homemade version of the classic is made with healthy ingredients, making it not only delicious but also guilt-free!
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Choco tacos on parchment paper.

Why you’ll love this recipe:

  • This homemade choco taco recipe is good as the original choco taco but only 209 calories per taco.
  • Perfect for a hot summer day or any day!
  • These ice cream tacos are made with a homemade golden brown waffle cone that stays nice and soft.
  • Use any favorite ice cream flavor and desired toppings.
  • With a few easy steps you have a delicious an easy ice cream-filled dessert. 

This homemade choco taco recipe is the real deal. Ice cream filled homemade soft and fluffy waffle cones, topped with warm chocolate and your favorite toppings. These ice cream tacos will be calling your name. Make it anyway you like, there’s no wrong way to enjoy this frozen treat.

Homemade Choco tacos on a lined baking sheet.

Waffle

The homemade waffle mix is what sets this homemade choco taco recipe apart. You can really use any pancake and waffle mix you want but I highly suggest using PEScience pancake and waffle mix. My friend Matt, from cheatdaydesign.com collaborated with PEScience to create his own formulated waffle mix and the results were out of this world. Use code OHSNAP to save on your order.

I used the Dash mini waffle maker. It is inexpensive, small, easy to use and get’s the job done.

Ice Cream

Next up, ice cream! To keep the homemade choc taco recipe lower in carbs and higher in protein, I used Bryers Vanilla Carb Smart Ice Cream. But believe me when I say, any kind of ice cream is amazing in these choco tacos. I made these with a unicorn ice cream for my girls and they LOVED it. If you’re fancy and have a Ninja CREMi you can use it to make homemade protein ice cream to stuff in your choco taco shells.  

Person holding a homemade Choco taco.

Chocolate and sprinkles

Last, but certainly not least, the third part of this delicious homemade version of the choco taco is the melted chocolate with sprinkles on top. To complete the homemade choco taco recipe, I used melted mini semi-sweet chocolate chips mixed with coconut oil to make it extra smooth and creamy. Milk chocolate, white chocolate, peanut butter or butterscotch chips are all delicious options. Any and all sprinkles are welcome too.

Is this ice cream treat gluten and dairy-free?

The homemade choco taco recipe can certainly be dairy and gluten-free as long as you use dairy and gluten-free ingredients. Make sure your waffle mix, melted chocolate and any toppings are free of either gluten or dairy (or both) if following a specific diet. 

What you’ll need to make this choco taco

These are the main ingredients and substitutions. See the recipe card below for the full ingredients list and instructions for this homemade choco taco recipe.

Ingredients for homemade Choco tacos including waffle mix, ice cream, and egg whites.

Waffle mix: I used PEScience. Use code MATT to save on your order. Any mix is fine but it needs to be mix (or homemade mix) and not frozen waffles.  

Milk: I used 2% milk, you can use whatever milk you have on hand including a dairy-free option. 

Liquid egg whites: adds protein without adding many calories. 

Chocolate chips: I used mini semi-sweet chocolate chips. Butterscotch, white chocolate, sugar-free or peanut butter chips are amazing as well. 

Coconut oil: mixed with the melted chocolate chips to make it smooth and creamy to pour on top and allow it to harden back up for a nice hard outer shell to bite into.

Ice cream: Bryers Carb Smart Vanilla Ice Cream to keep it low carb and high protein. Use any preferred ice cream though! This is a great recipe to use your CREAMi creations in. 

Optional Toppings: chopped peanuts, sprinkles, cereal, granola, chocolate sauce, etc.

Tray of homemade Choco tacos, one of which is missing a bite.

How to make your own choco tacos

Pre-heat waffle iron and prep waffles

Heat a mini waffle iron and spray with nonstick cooking spray. In a large bowl combine waffle mix, milk, water and egg whites. Whisk until no clumps remain.

Make waffles

Add 2 Tbsp. of the mixture to the preheated waffle maker. When the waffles are browned, approximately 4 minutes, remove and immediately fold into a taco shell shape. Drape on a wire rack to cool. I use the rack inside the oven while the oven is off.

Repeat with all of the remaining mix until all the waffles are cooked.

Collage of mixing and cooking waffles.

Melt chocolate

When you’re ready to stuff your choco tacos, add the chocolate chips and coconut oil to a microwave-safe bowl that is large enough to dip the taco tops into. Microwave for 30-second intervals, stirring until the chocolate has completely melted and is runny enough to dip the tacos in and cover the tops.

Collage of folding waffles and melting chocolate.

Stuff tacos with ice cream

Once the waffles are cooled, add ¼ cup of ice cream to the inside of the waffle. Spread the ice cream to completely cover the inside. Dunk the tops of the taco into the chocolate, top with desired toppings, and set aside to harden for a few minutes. I place them inside a medium bowl to stand upright and harden while I finish all 6 tacos. You can also lay them on a parchment paper-lined baking sheet or a taco holder.

Collage of filling and topping homemade Choco tacos.

Eat or freeze!

Your copycat choco tacos will get to room temperature fast. Eat them right away or place in the freezer to re-harden for 10-20 minutes prior to eating. Doing so will create a hardened chocolate shell like the classic choco taco but you’ll still have nice and soft waffle shells.

Person holding a homemade Choco taco topped with colorful sprinkles.

Toppings!

The toppings are so fun! For the homemade choco taco recipe, the kids and I like to get a little wild. I set out mini bowls with sprinkles, salted peanuts, mini m&m’s, granola, cereal, etc. Big mess? Yes. Super fun? Also yes.

Storing and serving size for the homemade choco tacos recipe

For those wanting to add their own ice cream to the homemade choco taco recipe, the servings size for waffle cones and chocolate toppings ONLY are as follows. You will need to add your ice cream info for a complete and accurate nutrition count. 

Calories 171, Total Fat 7 g, Saturated Fat 5 g, Monounsaturated Fat 0 g, Polyunsaturated Fat 0 g, Trans Fat 0 g, Cholesterol 13 mg, Sodium 160 mg, Potassium 109 mg, Total Carbohydrate 20 g, Dietary Fiber 1 g, Sugars 11 g, Protein 7 g

Nutrition facts for one complete choco taco with Breyers Carb Smart ice cream are on the recipe card. 

Keep any leftover ice cream tacos in an airtight container in the freezer. 

Homemade Choco tacos on a lined baking sheet.

If you like this recipe be sure to check out some of our other easy recipes!

Choco tacos on parchment paper.

Homemade Choco Taco Recipe

Danielle Lima
This Homemade Choco Taco Recipe will be your new favorite treat! A crispy waffle cone shell is stuffed with sweet vanilla ice cream and topped with chocolate fudge and your favorite goodies. This homemade version of the classic is made with healthy ingredients, making it not only delicious but also guilt-free!
No ratings yet
Prep Time 5 minutes
Cook Time 10 minutes
Course Dessert
Cuisine American
Servings 6 tacos
Calories 209 kcal

📱 MyFitnessPal & MacrosFirst App Users

You can find this recipe and many others on MyFitnessPal and MacrosFirst by searching: Ohsnapmacros – Homemade Choco Taco Recipe

Equipment

  • mini waffle maker

Ingredients
  

  • 1 cup PEScience Pancake and Waffle Mix or preferred mix
  • 1/2 cup milk 124g
  • 1/3 cup water
  • 3 Tbsp. liquid egg whites 46g

Chocolate Toppings

  • 1/2 cup mini semi-sweet chocolate chips 86g
  • 1 Tbsp. coconut oil

Ice Cream

  • 1.5 cups Breyers Carb Smart Vanilla Ice Cream

Instructions
 

  • Heat a mini waffle maker and spray with nonstick cooking spray. In a large mixing bowl combine waffle mix, milk, water and egg whites. Whisk until no clumps remain.
  • Add 2 tbsp. of the mixture to the pre heated waffle maker. When the waffles are browned, approximately 4 minutes, remove and immediately fold into the shape of a taco. Drape on a wire rack to cool. I use the rack inside the oven while the oven is off. Repeat with all of the remaining mix.
  • When you’re ready to stuff your choco tacos, add the chocolate chips and coconut oil to a microwave safe bowl that is large enough to dip the taco tops into. Microwave for 30 second intervals stirring until the chocolate has completely melted and it runny enough to dip and cover the top of the taco.
  • Once the waffles are cooled, add ¼ cup of ice cream to the inside of the waffle. Spread the ice cream to completely cover the inside. Dunk the tops of the taco into the chocolate, top with desired toppings and set aside to harden for a few minutes. I place them inside bowls to stand upright and harden while I finish all 6 tacos. You can also lay them on a parchment lined baking sheet.
  • You can eat them right away or place in the freezer to re-harden the tacos for 10-20 minutes prior to eating.

Notes

  • All nutrition facts for the homemade choco taco recipe are an estimate. 
  • Nutritional info on recipe card is for 1 complete taco with Breyer’s Carb Smart ice cream. 
  • Use code MATT for a discount on your order of PE Science pancake and waffle mix.
  • Use any variety and flavor of chocolate chips, ice cream and toppings. 

Nutrition

Serving: 1tacoCalories: 209kcalCarbohydrates: 26gProtein: 8gFat: 10gSaturated Fat: 7gCholesterol: 17mgSodium: 177mgPotassium: 150mgFiber: 2gSugar: 12g
Tried this recipe?Let us know how it was!

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