Homemade Ice Cream Tacos

Featured in: Best Dessert Recipes to Satisfy Your Sweet Tooth

These homemade ice cream tacos feature crispy waffle cone shells filled with your choice of ice cream and dipped in magic shell coating. Choose from chocolate with sprinkles, churro-style with cinnamon sugar, or cookies and cream with Oreo crumbs. The shells are made from a simple batter that's cooked on a skillet and shaped while warm. Once assembled, the tacos are frozen until firm, then dipped and garnished for a perfect frozen treat that stores beautifully for up to two months.

Chef with a smile, ready to cook and serve.
Updated on Fri, 02 May 2025 19:35:40 GMT
Two tacos with ice cream and chocolate sauce. Pin it
Two tacos with ice cream and chocolate sauce. | recipesbysandra.com

This delicious homemade version of ice cream tacos brings back nostalgic memories of those beloved packaged treats from childhood, but with endless flavor possibilities. These crispy waffle shells filled with creamy ice cream and dipped in magic shell create a perfect handheld dessert that's both fun to make and even more fun to eat.

I first made these on a hot summer day when my nieces and nephews came over for a backyard barbecue. The joy on their faces when they bit into these homemade treats was priceless. Now they request "Aunt's special ice cream tacos" every time they visit.

Ingredients

  • Large egg whites: Form the base of our waffle shells giving them that perfect crisp texture
  • Heavy cream: Adds richness to the batter making our shells tender yet sturdy
  • Vanilla extract: Provides that classic sweet fragrance that complements any ice cream flavor
  • All purpose flour: Creates the structure needed for shells that hold up to filling
  • Brown sugar: Offers deeper caramel notes compared to regular sugar giving our shells more dimension
  • Salted butter: Adds rich flavor and helps create that golden crisp exterior
  • Cinnamon sugar: Transforms ordinary shells into churro inspired treats with warm spice notes
  • Ice cream of choice: Full fat versions work best for creamier results and slower melting
  • Magic shell coating: Seals in the ice cream and adds a satisfying crack when bitten into
  • Various toppings: Like sprinkles, Oreo crumbs, or cinnamon sugar add texture and visual appeal

Step-by-Step Instructions

Prepare the Waffle Batter:
Beat egg whites until they become light and foamy, about 1 to 2 minutes. This creates air pockets for a lighter texture. Gently whisk in heavy cream and vanilla extract just until combined. Add flour and brown sugar next, whisking just until smooth, avoiding overmixing which would make tough shells. Finally, incorporate melted butter with light whisking motions until fully blended.
Cook the Waffle Shells:
Heat skillet over medium low heat and apply a very light coating of butter or cooking spray. Use a #40 dough scoop (approximately 2 tablespoons) to portion batter onto the skillet. Immediately use the back of the scoop to spread the batter into a thin circle about 5 inches in diameter. For churro version, sprinkle with cinnamon sugar while the first side cooks. Allow to cook until edges look set and surface begins to bubble (about 1 to 2 minutes). Flip with a thin spatula and cook other side until golden brown (about 1 to 2 minutes more).
Form the Taco Shells:
Working quickly while shell is still hot and pliable, remove it from the skillet using a spatula. Drape it over a foil-covered book spine, rounded side up, or suspend it over a wooden spoon handle placed between two objects. Hold in place for 10 to 15 seconds until it begins to set, then allow to cool completely which takes about 2 to 3 minutes. The shell will harden into the taco shape as it cools.
Assemble the Ice Cream Tacos:
Create a cooling rack by making grooves in aluminum foil placed in a baking pan. Place this setup in the freezer to chill. Remove ice cream from freezer and let soften slightly for easier scooping (about 5 minutes). Use a spoon to fill each taco shell with ice cream, pressing it in gently but firmly to eliminate air pockets. Smooth the top of the ice cream to be level with the shell edges. Place filled tacos in the prepared pan in the freezer immediately to harden for at least 30 minutes.
Dip and Decorate:
Prepare your magic shell topping according to recipe instructions. Working with one taco at a time, remove from freezer and quickly dip the exposed ice cream into the magic shell. Allow excess to drip off for a few seconds. Immediately sprinkle with chosen toppings before the magic shell hardens. Return dipped taco to the freezer pan right away. Repeat with remaining tacos, allowing at least 5 minutes between tacos if working in batches to keep ice cream firm.
A plate of food with a chocolate and vanilla ice cream sandwich. Pin it
A plate of food with a chocolate and vanilla ice cream sandwich. | recipesbysandra.com

The magic shell coating is truly the secret weapon in this recipe. I discovered that adding just a small amount of coconut oil to melted chocolate creates that perfect crackable shell that hardens on contact with the cold ice cream. This was a game changer for homemade frozen treats in our household and now we use it on everything from ice cream bars to frozen bananas.

Perfect Shell Technique

Achieving the ideal waffle taco shell requires careful timing. The key is to remove the waffle from heat when it's still flexible but cooked through. If you remove it too early it will tear or be too soft to hold shape. Wait too long and it will become brittle and crack when you try to form it. Look for a uniform golden brown color with slight browning at the edges as your visual cue. Once you've mastered the timing you'll get perfect shells every time.

Two chocolate covered ice cream sandwiches. Pin it
Two chocolate covered ice cream sandwiches. | recipesbysandra.com

Make Ahead and Storage

These ice cream tacos are perfect for preparing days or even weeks before you need them. After fully assembling and freezing, wrap each taco individually in plastic wrap before placing in a freezer safe container or zip top bag. This double protection prevents freezer burn and keeps them fresh for up to two months. For best texture, allow them to sit at room temperature for 2 to 3 minutes before serving, just long enough to slightly soften the shell without melting the ice cream.

Creative Variations

The basic recipe is just a starting point for endless customization. Try filling shells with layers of different ice cream flavors or adding a layer of fudge sauce between ice cream varieties. For a festive touch, color the waffle batter with a few drops of food coloring. Add flavoring extracts like almond, coconut, or mint to the shell batter to complement your ice cream choice. You can even press chopped nuts or crushed cookies into the ice cream before the magic shell sets for added texture and flavor complexity.

Frequently Asked Questions

→ How long can I store these ice cream tacos?

You can store these ice cream tacos in the freezer for 1-2 months. For best results, transfer them to a freezer bag or airtight container after they've hardened. Wrapping each one individually before storing will provide extra protection.

→ Can I use store-bought ice cream for this?

Yes, you can use any store-bought ice cream for these tacos. The recipe suggests chocolate, caramel, and cookies and cream varieties, but feel free to experiment with your favorite flavors.

→ What's the best way to shape the taco shells?

After cooking the waffle batter, drape the warm circles over a foil-covered book spine or use a wooden spoon handle to create the classic taco shape. Allow them to cool and firm up in this position to maintain their shape.

→ Can I make the magic shell coating from scratch?

Yes, the recipe mentions a 2-ingredient homemade magic shell recipe. Typically, homemade magic shell consists of chocolate (or white chocolate) mixed with coconut oil, which hardens when it comes in contact with cold ice cream.

→ What if I don't have a dough scoop?

If you don't have a #40 dough scoop, you can use a regular tablespoon to measure approximately 2 tablespoons of batter for each shell. The key is consistency in shell size and thickness for even cooking.

→ How do I prevent the shells from getting soggy?

Work quickly when filling the shells with ice cream and immediately place them in the freezer. The magic shell coating also helps create a barrier between the ice cream and shell, helping maintain crispness.

Ice Cream Tacos

Crispy waffle shells filled with ice cream, dipped in magic shell and finished with tasty toppings in three delicious variations.

Prep Time
30 Minutes
Cook Time
20 Minutes
Total Time
50 Minutes
By: Sandra


Difficulty: Intermediate

Cuisine: American Dessert

Yield: 8 Servings (8 ice cream tacos)

Dietary: Vegetarian

Ingredients

→ Taco Shell Base

01 2 large egg whites
02 ½ cup heavy cream
03 2 teaspoons vanilla extract
04 ⅔ cup all-purpose flour
05 ½ cup brown sugar
06 ⅓ cup salted butter, melted
07 2 tablespoons cinnamon sugar (for churro version)

→ Chocolate Ice Cream Taco

08 1.5 quarts chocolate ice cream
09 1 cup chocolate magic shell
10 ¼ cup multi-color nonpareils sprinkles

→ Churro Ice Cream Taco

11 1.5 quarts caramel ice cream
12 1 cup white chocolate magic shell
13 2 tablespoons cinnamon sugar

→ Oreo Ice Cream Taco

14 1.5 quarts cookies and cream ice cream
15 1 cup chocolate magic shell
16 ¼ cup Oreo cookie crumbs

Instructions

Step 01

Beat the egg whites for 1-2 minutes until foamy. Briefly whisk in the heavy cream and vanilla extract. Add the flour and brown sugar. Whisk until just combined. Lightly whisk in the melted butter.

Step 02

Heat a skillet over medium-low heat and lightly grease it. Use a #40 dough scoop (about two tablespoons) to portion batter onto the hot skillet and spread it into a circle. For the churro version, sprinkle with cinnamon sugar. Cook 3-4 minutes, flipping once to cook both sides evenly.

Step 03

Remove from the skillet and immediately drape over a foil-covered book spine (or wooden spoon handle) to cool and form the taco shape.

Step 04

Repeat the cooking and shaping process with the remaining batter until all shells are formed.

Step 05

Create a freezing surface by making grooves/zig-zags with aluminum foil. Place the prepared foil in a pan and put it in the freezer.

Step 06

Use a spoon to fill each taco shell with your ice cream of choice. Immediately place filled tacos in the prepared freezer pan to harden.

Step 07

Working with one taco at a time, remove from freezer, dip the ice cream portion in the chocolate shell, allow excess to drip off, immediately sprinkle with your chosen garnish, and return to the freezer pan.

Step 08

Once the ice cream tacos have fully hardened, transfer them to a freezer bag or airtight container. For best results, wrap each taco individually before storing. Keeps fresh in the freezer for 1-2 months.

Notes

  1. The taco shells must be shaped while still warm and pliable.
  2. Work quickly when filling and dipping the tacos to prevent ice cream from melting.
  3. For the magic shell coatings, you can use store-bought versions or make your own with chocolate chips and coconut oil.

Tools You'll Need

  • Skillet or griddle
  • Mixing bowls
  • #40 dough scoop (2 tablespoon capacity)
  • Aluminum foil
  • Book spine or wooden spoon handle (for shaping)
  • Baking pan
  • Whisk

Allergy Information

Please check ingredients for potential allergens and consult a health professional if in doubt.
  • Contains dairy (heavy cream, butter, ice cream)
  • Contains eggs
  • Contains wheat (all-purpose flour)
  • May contain soy and nuts depending on ice cream varieties used

Nutrition Facts (Per Serving)

It is important to consider this information as approximate and not to use it as definitive health advice.
  • Calories: 425
  • Total Fat: 24 g
  • Total Carbohydrate: 48 g
  • Protein: 6 g