Have you ever craved ice cream, but wanted more than just a scoop or two? Personally, I always pair my ice cream with something else, whether it be crunchy toppings or a gooey brownie. Recently I discovered a delicious combination for ice cream that has changed my dessert game forever. I introduce to you: Homemade Choco Tacos.

This is my take on the beloved Choco Taco, with a healthier spin. I love the combination of peanut butter and chocolate, so I chose to take a peanut butter approach to this dessert. I used a buttermilk and honey waffle mix and cocoa powder because that is what I had in my pantry. A chocolate waffle mix would work just as well, if not better. Feel free to also mix and match with your favorite toppings. I’ll definitely be trying this recipe again with different ice cream flavors and toppings.

Let’s get started.

Healthy Choco Tacos

  • Prep Time:15 mins
  • Cook Time:5 mins
  • Total Time:20 mins
  • Servings:8
  • Easy


  • 1/2 cup Kodiak Cake mix *I used Buttermilk & Honey*
  • 1 tbsp cocoa powder
  • 1/2 cup water or milk *I used water*
  • 1/2 pint ice cream *I used Enlightened Chocolate Peanut Butter*
  • Toppings *I used powdered peanut butter and sprinkles*
Emily Noel
  • Step 1

    Take ice cream out of the freezer to soften.

    Emily Noel
  • Step 2

    Meanwhile, whisk waffle mix, cocoa powder, and water until smooth.

    Emily Noel
  • Step 3

    Pour 1/2 of mixture into waffle maker and close for 90 seconds (may vary depending on waffle maker).

    Emily Noel
  • Step 4

    Let waffles cool for a couple minutes.

    Emily Noel
  • Step 5

    Cut each waffle into four slices.

    Emily Noel
  • Step 6

    Fill each waffle slice with a scoop of ice cream.

    Emily Noel
  • Step 7

    Take a cupcake tray and flip it upside down. Place each waffle between the cupcake divots and place in the freezer for 5 minutes.

    Emily Noel
  • Step 8

    Prepare your toppings. I mixed 3 servings of powdered peanut butter with equal parts water to act as the hard shell on top of the tacos.

    Emily Noel
  • Step 9

    I then immediately rolled the ice cream in sprinkles.

    Emily Noel
  • Step 10

    Place tacos back in the freezer to set for at least 30 minutes.

    Emily Noel
  • Step 11

    Enjoy immediately or keep in freezer for later.

    Emily Noel