Make Homemade Ice Cream Tacos with Clementine's

Few sounds could make you move faster as a kid than the music of an ice cream truck coming down the street. The second you heard it, you were digging through couch cushions for change, running for the front door, and hoping the truck didn’t turn the corner before you got outside.

And if you were lucky, you came back with one of the all-time great ice cream truck treats: a Choco Taco.

That crispy waffle shell, creamy ice cream filling, chocolate coating, and crunchy peanut topping made the Choco Taco feel like part ice cream cone, part candy bar, and part taco—which, honestly, is a pretty hard combination to beat. It’s the kind of frozen treat that instantly tastes like summer vacation.

The good news? You can bring that ice cream truck nostalgia right into your own kitchen by learning how to make homemade ice cream tacos.

Homemade ice cream tacos are made with crisp waffle shells shaped like tacos, stuffed with your favorite ice cream (Clementine's), and finished with melted chocolate and plenty of crunchy toppings. You can stick with the classic chocolate-and-peanut combination for a homemade Choco Taco-inspired treat, or have fun with sprinkles, crushed cookies, candies, different ice cream flavors, and just about anything else you can dream up.

And while they look like the kind of dessert you’d only find at an ice cream shop, making ice cream tacos at home is surprisingly doable. The trick is shaping the shells while they’re warm, giving them time to cool, and working quickly once the ice cream comes out of the freezer.

In this guide, I’ll walk you through exactly how to make homemade ice cream tacos, from making and shaping the crispy shells to filling them with ice cream, dipping them in chocolate, adding your favorite toppings, and freezing them until everything is perfectly set.

Basically, it’s all the fun of chasing down the ice cream truck—without having to sprint down the driveway in flip-flops.

If you’ve ever gone looking for a Choco Taco lately, you already know the problem: they’re not exactly easy to find.

The original Choco Taco was discontinued, which sent plenty of longtime fans into full-on frozen-dessert mourning. While similar treats occasionally pop up in stores or from specialty brands, that classic ice cream truck favorite is no longer something you can reliably grab whenever the craving hits.

That’s one of the best reasons to make ice cream tacos at home. You don’t have to hunt through freezer aisles, chase down an ice cream truck, or cross your fingers that a limited-edition version is in stock. When you know how to make homemade ice cream tacos, you can bring back that crispy-shell, creamy-ice-cream, chocolate-covered magic whenever you want.

Making them at home can also save money, especially if you’re feeding a family or making dessert for a party. Specialty frozen treats can get expensive when you’re buying them one at a time, but homemade ice cream tacos use simple ingredients that can make several servings at once. A batch of waffle shells, a carton of ice cream, some melted chocolate, and a handful of toppings can go a surprisingly long way.

Plus, homemade means you’re not stuck with just one flavor. You can recreate a classic Choco Taco with vanilla ice cream, chocolate, and peanuts, or make your own version with cookies and cream, strawberry, mint chocolate chip, caramel, sprinkles, crushed cookies, or whatever happens to be calling your name.

So yes, homemade ice cream tacos can be cheaper and easier to find than the store-bought version—but they’re also a lot more fun.

You don’t need a professional ice cream shop setup to make homemade ice cream tacos, but the right tools definitely make the process easier. The biggest job is getting the waffle shells thin, crisp, and shaped before they cool.

A waffle cone maker is the easiest option because it gives you thin, evenly cooked shells with that classic waffle-cone texture. You can use a traditional round waffle cone maker, a pizzelle-style iron, or another thin-waffle appliance. The important thing is choosing something that makes a thin, flexible waffle rather than a thick Belgian-style waffle.

No waffle cone maker? You can still make ice cream taco shells in a skillet. A nonstick skillet works especially well because the batter can spread into a thin circle and release more easily. A well-seasoned cast-iron skillet can also work, although you may need a little practice to get the shells evenly thin. An offset spatula or the back of a spoon is helpful for spreading the batter quickly.

You can also use the oven method. For that, you’ll want a sturdy baking sheet lined with parchment paper or a silicone baking mat. An offset spatula makes it easier to spread the batter into thin circles, and a thin metal spatula helps lift the hot shells from the pan before shaping.

No matter which cooking method you use, have your taco shell forms ready before the shells come off the heat. Waffle shells become crisp very quickly as they cool, so you only have a short window to shape them.

Metal taco shell forms are my favorite option because they create a neat, consistent taco shape and can handle hot waffle shells without any trouble. You can also drape the warm shells over the handle of a wooden spoon, a narrow rolling pin, or another heat-safe rounded object. Just make sure the opening is wide enough to leave plenty of room for ice cream.

A few helpful tools to have nearby include:

• A waffle cone maker, pizzelle iron, nonstick skillet, or baking sheet

• Parchment paper or a silicone baking mat for the oven method

• An offset spatula for spreading the batter thinly

• A thin spatula for lifting hot waffle shells

• Metal taco shell forms for shaping

• A cooling rack for setting the shells

• An ice cream scoop for filling the finished tacos

If you plan to make ice cream tacos more than once, taco shell forms are one of the few specialty tools I’d recommend buying. They make shaping faster, keep every shell about the same size, and give you that unmistakable ice cream taco look.

One of the best things about homemade ice cream tacos is that the ingredient list is pretty simple. At the most basic level, you need a crisp waffle-style shell, your favorite ice cream, melted chocolate, and something crunchy or colorful for the top.

For the taco shells, you’ll typically use a waffle cone-style batter made with ingredients such as flour, sugar, eggs, butter, vanilla, and a pinch of salt. Some recipes also use milk or cream to thin the batter enough to spread easily. The goal is a batter that cooks up thin and crisp but stays flexible for a few seconds while it’s still warm, giving you time to shape it into that classic taco shell.

For the ice cream, this is where you can really have fun. Vanilla is the obvious choice if you want that classic Choco Taco-inspired flavor, but there are plenty of other options:

• Vanilla

• Chocolate

• Cookies and Cream

• Mint Chocolate Chip

• Strawberry

• Coffee

• Butter Pecan

• Cookie Dough

• Rocky Road

• Salted Caramel

You can also mix and match the ice cream with your toppings. Strawberry ice cream with white chocolate and sprinkles feels completely different from coffee ice cream with dark chocolate and chopped almonds, even though the basic recipe is exactly the same.

For the chocolate coating, you’ll need chocolate plus a small amount of fat to help it melt smoothly and form a thinner shell around the ice cream. Semisweet chocolate chips are a great all-purpose choice, but milk chocolate, dark chocolate, or white chocolate all work too. Coconut oil is commonly added to help create that smooth, snappy coating once the chocolate gets cold.

Then come the toppings, which may be the most fun part of the whole project. You can keep things classic with chopped peanuts or turn your ice cream tacos into a full dessert-bar situation.

Try toppings like chopped peanuts, almonds, pecans, sprinkles, mini chocolate chips, crushed Oreos, crushed waffle cones, toffee bits, chopped candy bars, toasted coconut, cereal, cookie crumbs, or freeze-dried strawberries.

You can even set out several toppings and let everyone decorate their own taco. It turns a batch of homemade ice cream tacos into an easy party dessert—and guarantees no two tacos have to look exactly alike.

Once you have your ingredients and equipment ready, it’s time for the fun part: making the shells, shaping them into tacos, and filling them with ice cream.

The biggest thing to remember is tha t waffle taco shells need to be shaped while they’re still warm. Once they cool, they crisp up quickly and become much harder to bend without cracking. Have your taco forms ready before you start cooking so you can move fast.

The oven method is a great option if you don’t have a waffle cone maker and want to make several shells with basic kitchen equipment.

• Preheat your oven according to your waffle shell recipe, usually somewhere around 350°F to 375°F.

• Line a baking sheet with parchment paper or a silicone baking mat.

• Spoon a small amount of waffle batter onto the prepared baking sheet.

• Use an offset spatula or the back of a spoon to spread the batter into a thin, even circle. Keep the layer fairly thin so the finished shell becomes crisp instead of cakey.

• Bake until the edges are golden brown and the center looks cooked through. You want the shell lightly browned but still flexible enough to shape.

• Remove one shell from the baking sheet with a thin spatula and immediately drape it over a taco shell form.

• Gently press the sides down around the form to create the taco shape. Be careful—the shell will be hot.

• Let the shell cool completely on the form. As it cools, it will become crisp and hold its shape.

If you’re baking several shells at once, work quickly when they come out of the oven. If one becomes too firm before you can shape it, return it to the oven for a few seconds to soften it slightly.

The skillet method works especially well when you want to make one shell at a time and have a little more control over the browning.

• Heat a nonstick skillet over medium-low to medium heat.

• Lightly grease the pan if needed, although a good nonstick skillet may not require much additional fat.

• Spoon a small amount of waffle batter into the center of the skillet.

• Immediately spread the batter into a thin circle using the back of a spoon or a small offset spatula.

• Cook until the bottom is lightly golden and the top looks mostly set.

• Carefully flip the shell and cook the second side briefly, just until lightly browned. After removing it from the skillet, you can drape it over a wooden spoon handle or thin book spine if you do not have a taco shell form.

• Transfer the hot shell directly from the skillet to your taco shell form.

• Shape the shell around the form, hold it in place for a few seconds while it sets, and allow it to cool completely before removing it. If needed, set the formed shells on paper towels briefly to absorb moisture as they cool.

The first shell may take a little experimenting while you figure out the right heat level and amount of batter. Think of it as the cook’s sample.

If you are baking in batches, repeat with the remaining batter until all shells are formed.

If you have a waffle cone maker, this is usually the easiest way to get thin, evenly cooked shells with that classic waffle-cone texture.

Preheat the waffle cone maker according to the manufacturer’s instructions. Add the recommended amount of batter to the center, close the lid, and cook until the waffle is golden brown.

As soon as you open the waffle cone maker, carefully lift out the hot waffle and drape it over a taco shell form. Shape it immediately and let it cool completely before removing it.

Do not roll the waffle into a cone. For ice cream tacos, you want to keep it open and curved so there is plenty of room for ice cream.

This part happens fast.

Freshly cooked waffle shells are soft and flexible for a short period of time, but they become crisp as they cool. That means your taco forms should be sitting right next to you r cooking area before you remove the first shell.

Place the warm waffle over the form so the center rests across the top and both sides hang down evenly. Gently press the sides into shape without squeezing them together.

You want a wide taco opening rather than a narrow shell. Remember, you still have to fit a generous amount of ice cream inside.

Let each shell cool completely before removing it from the form. If the shell still feels soft, give it another minute or two. Once fully cooled, it should be crisp and sturdy enough to hold its shape.

The easiest way to fill ice cream tacos is to let the ice cream soften slightly first.

You don’t want melted ice cream, but straight-from-the-freezer ice cream can be too hard to press into the shell without cracking it. Let the container sit at room temperature for a few minutes, just until the ice cream becomes scoopable and easy to spread.

Place a small scoop of ice cream into one side of the taco shell, then add another scoop beside it. Continue adding ice cream until the shell is generously filled.

For a cleaner look, use a small ice cream scoop or spoon rather than trying to push one giant scoop into the shell.

And don’t squeeze the shell while you’re filling it. These tacos are delicious, but they are not particularly interested in being hugged. Once filled, immediately place the tacos on the lined baking sheet or in the freezer-safe container, then freeze until firm.

Once the shell is filled, use the back of a spoon or a small offset spatula to gently press and smooth the ice cream.

Start by pushing the ice cream toward the bottom and corners of the shell so there aren’t large empty pockets. Then smooth the exposed top into an even layer.

For that classic Choco Taco look, bring the ice cream right up to the edges of the shell. A flat, smooth surface also makes it much easier to add the chocolate coating later.

If the ice cream starts getting too soft while you’re working, place the filled tacos in the freezer for 10 to 15 minutes before continuing.

Once all the taco shells are filled and smoothed, arrange them upright on a parchment-lined baking sheet or in a freezer-safe container. Freeze until the ice cream is firm again before moving on to the chocolate coating and toppings.

If you’re trying to recreate the classic ice cream truck experience, this is the part where homemade ice cream tacos really start to feel like Choco Tacos.

Once the shells are filled with ice cream and frozen until firm, it’s time to add the chocolate coating. The easiest method is to dip the exposed ice cream side of each taco directly into melted chocolate; when that chocolate is mixed with coconut oil, it works like a magic shell seal that helps lock in the ice cream.

Melt your chocolate in the microwave in short bursts until smooth, then stir in a small amount of coconut oil if your recipe calls for it. If you want a smoother, glossier shell, stir in a little corn syrup with the melted chocolate. The coconut oil helps thin the chocolate slightly and gives it that crisp, snappy texture once it hits the cold ice cream.

Pour the melted chocolate into a shallow bowl or wide measuring cup. You want enough depth to coat the top of the taco without having to completely submerge the shell.

Working with one frozen taco at a time, hold it gently by the waffle shell and dip the exposed ice cream edge into the chocolate. Tilt the taco slightly from side to side so the chocolate reaches the corners and coats the ice cream evenly.

Lift it out and let any extra chocolate drip back into the bowl for a few seconds.

For a more classic Choco Taco look, you can let a little chocolate overlap onto the edges of the waffle shell. Just avoid dunking the entire taco unless you’re intentionally going for a fully chocolate-covered version.

This is not the time to wander away looking for the sprinkles.

The chocolate begins setting almost immediately when it touches the frozen ice cream, so have all of your toppings measured and ready before you start dipping, then immediately sprinkle them on so they stick before the coating hardens.

For the most nostalgic homemade Choco Taco version, sprinkle the chocolate generously with finely chopped peanuts. The salty crunch against the chocolate and vanilla ice cream is what gives the classic version so much of its personality.

Not a peanut fan? Colorful sprinkles are an easy—and much more colorful—alternative. Rainbow sprinkles are especially fun if you’re making these with kids or serving them for a birthday party.

You can also combine the two, or use crushed cookies, toffee bits, chopped almonds, mint chocolate chips, or other small toppings that will stick easily to the melted chocolate.

For the neatest chocolate coating, the order matters.

First, make and completely cool the waffle taco shells. Next, fill them with slightly softened ice cream and smooth the ice cream all the way to the edges. Freeze the filled tacos until the ice cream is very firm.

Only then should you melt the chocolate.

Set up your dipping station with the frozen tacos, melted chocolate, toppings, and a parchment-lined tray all within reach. Dip one taco, immediately add the toppings, and place it back on the tray before moving on to the next one.

Working one taco at a time keeps the ice cream from getting too soft and gives you a much tidier coating.

Because the tacos are already frozen, the chocolate will start firming up within seconds. Give each freshly dipped taco a minute or two before handling it much, especially if you added a thick layer of chocolate.

Once all of the tacos are coated, return them to the freezer for about 10 to 15 minutes, or until the chocolate is completely hard and the ice cream is firm again.

After that, your homemade Choco Tacos are ready to eat—or stash in the freezer for the next time you get an ice cream truck craving without an actual ice cream truck anywhere in sight.

The shell makes a big difference in an ice cream taco. You can go classic with a waffle cone-style shell, take a shortcut with tortillas, or make thin shells right in a skillet. Each method works, but the finished texture is a little different.

If you want the closest thing to a classic Choco Taco, waffle cone shells are the best choice.

They’re thin, crisp, lightly sweet, and sturdy enough to hold ice cream without feeling too heavy. A waffle cone maker also gives you that familiar patterned texture that instantly makes the finished dessert look like an ice cream shop treat.

Once cooled properly, waffle cone shells should have a noticeable snap when you bite into them, followed by the creamy ice cream filling. That contrast is a big part of what makes ice cream tacos so good.

For the crispiest results, cook the waffle until it’s evenly golden rather than pale. A lightly browned shell usually crisps much better as it cools.

Tortillas are the shortcut option.

Flour tortillas can be brushed with butter, sprinkled with cinnamon sugar if you like, shaped into taco shells, and baked or fried until crisp. They’re easy to find, inexpensive, and great when you want to make ice cream tacos without mixing waffle batter.

The texture, however, is different from a waffle cone shell. Tortillas tend to be thicker, slightly chewier, and more pastry-like, even when they’re crisped well. They won’t have quite the same delicate crunch or sweetness as a traditional waffle shell.

That doesn’t make them a bad option—just a different kind of dessert taco. Cinnamon-sugar tortilla shells are especially good with vanilla, caramel, churro-inspired, or chocolate ice cream.

Skillet shells fall somewhere between the two.

Because you’re spreading waffle-style batter directly into a pan, you can still get a thin, sweet shell without owning a waffle cone maker. The finished texture can be wonderfully crisp, although it usually won’t have the embossed waffle pattern of a cone maker.

Skillet shells may also be slightly more irregular in thickness. If the batter is spread too thick, the center can stay a little soft or chewy instead of becoming crisp.

The key is to use a modest amount of batter and spread it into a very thin, even circle as soon as it hits the pan.

No matter which method you choose, moisture is the enemy of a crisp shell.

Cook or bake the shells until they’re nicely golden, then let them cool completely before adding any ice cream. They often continue crisping as they cool, so don’t judge the texture while they’re still warm.

Avoid stacking warm shells, which can trap steam and soften them. Let them cool individually on their taco forms or on a wire rack where air can circulate around them.

If baked or skillet-made shells seem a little soft after cooling, you can usually crisp them again in a low oven for a few minutes. Just watch them closely so they don’t brown too far.

And once the shells are filled with ice cream, work fairly quickly. The longer the ice cream sits against the shell before freezing, the more moisture the shell absorbs.

For the closest thing to that nostalgic ice cream truck crunch, stick with a thin waffle cone shell, cook it until golden, cool it completely, and get the filled tacos back into the freezer as soon as possible.

Once you’ve got the shells figured out, the filling is where homemade ice cream tacos really become your own.

You can keep things classic with vanilla, go extra rich with chocolate, or build a completely different flavor combination with fruit, cookies, caramel, coffee, or non-dairy ice cream. There really isn’t a wrong answer here—as long as it fits in the taco shell.

If you’re chasing that nostalgic Choco Taco flavor, vanilla ice cream is the place to start.

Vanilla gives you that familiar creamy filling and lets the chocolate coating, waffle shell, and crunchy toppings do most of the talking. Pair it with milk or semisweet chocolate and chopped peanuts for the most classic combination.

You can also dress vanilla up with caramel drizzle, crushed cookies, toffee bits, sprinkles, or mini chocolate chips.

For serious chocolate fans, chocolate ice cream makes the whole dessert even richer.

Try chocolate ice cream with a dark chocolate coating and chopped almonds, or go full candy-shop mode with milk chocolate, mini chocolate chips, and crushed chocolate cookies.

Chocolate also pairs really well with peanut butter, caramel, marshmallow, and espresso flavors.

Once you know the basic method, you can start treating the taco shell like a blank canvas.

Cookies and cream ice cream is great with white or milk chocolate and crushed sandwich cookies. Strawberry ice cream works beautifully with white chocolate and sprinkles. Mint chocolate chip is an easy match for dark chocolate and mini chocolate chips.

You could also try salted caramel ice cream with milk chocolate and toffee bits, coffee ice cream with dark chocolate and chopped hazelnuts, or cookie dough ice cream with chocolate coating and crushed cookies.

For something a little brighter, pair raspberry or strawberry ice cream with white chocolate and freeze-dried fruit.

Homemade ice cream tacos are easy to make dairy-free, too.

Use your favorite dairy-free ice cream, such as coconut milk, oat milk, almond milk, or cashew-based varieties. Vanilla, chocolate, cookies and cream, caramel, and fruit flavors all work well.

For the coating, choose dairy-free chocolate and combine it with coconut oil if needed for a smoother, thinner dip.

If you’re making the entire dessert dairy-free, just be sure the taco shell recipe and toppings are dairy-free as well.

The best part about making ice cream tacos at home is that everyone can have a different favorite. Make a few classic vanilla-and-peanut tacos, a couple loaded chocolate versions, and a dairy-free option or two, and suddenly you’ve got your own little ice cream truck menu—minus the music getting stuck in your head.

Once your ice cream tacos are assembled, give them enough freezer time to get completely firm before serving. This helps the ice cream hold its shape, keeps the chocolate coating crisp, and makes the tacos much easier to eat without turning dessert into a race against the clock.

For best results, freeze the finished ice cream tacos for at least 1 to 2 hours before serving. If you’ve just dipped them in chocolate, the coating itself may harden within 10 to 15 minutes, but a longer freeze gives the entire taco time to firm back up.

Keep your freezer at 0°F (-18°C) or colder for proper frozen storage.

Once the tacos are completely frozen, wrap each one individually in plastic wrap, foil, or freezer paper. For even better protection against freezer burn, place the wrapped tacos inside an airtight freezer container or freezer-safe zip-top bag.

Wrapping them individually also keeps the tacos from sticking together and makes it easy to grab just one whenever the craving hits.

For the best flavor and texture, enjoy homemade ice cream tacos within about 1 to 2 weeks. They can remain frozen longer, but the waffle shells may gradually lose some of their crispness as they absorb moisture from the ice cream.

If you’re making them ahead for a party, preparing them a day or two in advance works beautifully.

Serve ice cream tacos straight from the freezer for the crispiest shell and firmest filling. If your freezer runs especially cold, let them sit at room temperature for about 2 to 3 minutes before taking the first bite. That gives the ice cream just enough time to soften without letting the taco get melty.

For parties, arrange the tacos upright in a chilled serving tray or taco holder and add a few extra toppings nearby. A drizzle of chocolate or caramel right before serving never hurts, either.

And unlike the ice cream truck version, there’s no need to eat these while standing on the sidewalk before they melt. Although, for nostalgia’s sake, you certainly could—especially on a hot summer day.

The easiest trick is to shape the shells while they’re still warm. Freshly cooked waffle shells stay flexible for only a short time, so have your taco shell forms ready before you start cooking.

As soon as a shell comes off the waffle cone maker, skillet, or baking sheet, drape it gently over the form and let the sides fall naturally into a taco shape. Don’t press too hard or try to make an extremely narrow shell.

If you’re new to making them, work with one shell at a time until you get the hang of the timing. The first one or two may be practice tacos, which is really just another way of saying chef snacks.

Soggy shells usually come down to moisture.

The shells may not have been cooked long enough, they may have been filled before cooling completely, or the ice cream may have been too soft when you assembled the tacos.

For crispier shells, cook them until evenly golden, let them cool completely before filling, and return the finished tacos to the freezer as quickly as possible.

It also helps to avoid leaving filled tacos uncovered in the freezer for long periods. Once they’re completely frozen, wrap them well or transfer them to an airtight container.

Yes. If a shell cools before you can shape it, you can usually soften it again with a little gentle heat.

Place it back in a warm oven for roughly 15 to 30 seconds, just until it becomes flexible enough to bend. Watch it closely, because thin waffle shells can go from warm to overly browned very quickly.

Once softened, immediately drape it over your taco form and let it cool in place.

You can also use this trick if a shell comes out slightly misshapen and you want another chance at getting that taco curve just right.

Klondike discontinued the original Choco Taco in 2022 after nearly four decades on the market.

At the time, the company explained that unusually high demand across its product lineup forced it to make difficult decisions about which products to continue producing. Unfortunately fo r Choco Taco fans everywhere, the frozen favorite ended up on the chopping block.

The announcement sparked plenty of nostalgia—and more than a little outrage—from people who grew up buying them from ice cream trucks and convenience stores.

Which is exactly why learning how to make homemade Choco Tacos feels so satisfying. You get the crispy waffle shell, creamy ice cream, chocolate coating, and crunchy toppings whenever you want, no ice cream truck tracking required.

Homemade ice cream tacos are one of those desserts that are just as fun to make as they are to eat. Between the crisp waffle shell, creamy ice cream, chocolate coating, and all those crunchy toppings, every bite feels a little like bringing the ice cream truck right back to your driveway.

If you’ve been missing the classic Choco Taco, this homemade version is absolutely worth trying. You can keep things traditional with vanilla ice cream, chocolate, and chopped peanuts, or make your own version with different ice cream flavors, sprinkles, cookies, candy, or whatever sounds good.

Once you get the hang of shaping the shells while they’re warm, the rest is easy—and the flavor combinations are practically endless.

So grab your favorite Clementine's ice cream, melt some chocolate, and make a batch of homemade Choco Tacos for your next summer dessert, birthday party, or whenever that old-school l ice cream truck craving hits.