Mix the ingredients together in a bowl and cook 2 Tbsp. of batter in a mini waffle maker. Immediately fold the waffles into tacos and drape on a wire rack to cool.
Make the chocolate sauce
Melt chocolate chips with coconut oil in the microwave to create a creamy chocolate sauce to dip the choco tacos in.
Stuff the tacos
Add the ice cream to the center of the waffle tacos and dip into the creamy chocolate sauce. Add sprinkles and set aside to harden or freeze.