Missing those classic choco tacos from the ice cream truck? Now you can recreate the magic at home with these homemade Gluten-Free Choco Tacos! Featuring crispy waffle shells, your favorite creamy ice cream, and a rich chocolate coating topped with sprinkles or crunchy nuts, this DIY version is not only gluten-free, but also naturally sweetened with coconut sugar and better-for-you ingredients.
Gluten-Free Choco Tacos Ingredients
Coconut Sugar – Lower glycemic index than refined sugar and packed with minerals.
Dark Chocolate – Antioxidant-rich and lower in sugar than milk chocolate.
Gluten-Free Flour – Easy on digestion and safe for celiac or gluten-sensitive eaters.
Natural Sprinkles – Free from artificial dyes and perfect for a fun finish!
Tips for the best Gluten-Free Choco Tacos
Work quickly when shaping the taco shell—once it cools, it hardens fast!
If your ice cream is super soft, freeze the filled tacos longer to firm up before dipping in chocolate.
Use a cookie scoop to portion ice cream neatly and evenly.
Store extras in a freezer-safe container with parchment between layers to prevent sticking.
FAQs
Q: Can I make these dairy-free?
Yes! Use dairy-free butter, milk, and a plant-based ice cream like coconut or almond-based for a fully dairy-free version.
Q: What waffle maker works best?
A waffle cone maker or pizzelle press will give you the perfect thin, crispy texture for shaping. I use the CucinaPro Waffle Cone Maker.
Q: Can I make the shells ahead of time?
Definitely! Store cooled shells in an airtight container at room temperature for 1–2 days before filling.
Q: What’s the best way to shape the shell without a rack?
I drape the hot waffle over a drying rack that is placed on its side. You can also drape the hot waffle over a clean rolling pin, edge of a bowl, or even a folded towel for the taco shape.
Other Ice Cream Recipes To Make:
These Gluten Free Choco Tacos are a fun copycat of a childhood favorite! Whether you’re making them for a summer treat or weekend indulgence, they’re sure to be a hit. Enjoy!
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Gluten Free Choco Tacos
Ingredients
For the waffles:
- 1 egg
- 1/3 cup coconut sugar
- 1 tsp vanilla
- 3 tbsp butter, melted
- 1/2 cup nut milk
- 2/3 cup Gluten Free cup for cup flour
Other ingredients:
- 1 1/2 cups dark chocolate
- 1 gallon of your favorite ice cream (fudge swirl to be extra authentic!)
- 1/3 cup dark chocolate crispearls (or chopped nuts)
- 2 tbsp natural rainbow sprinkles
Instructions
- Whisk together egg, coconut sugar, vanilla, and butter, then mix in the flour.
- Scoop a little less than 1/4 cup of batter and pour it on the center of the waffle cone maker. Tightly close the waffle cone maker and cook for 1 1/2 minutes.
- Take the hot waffle off of the waffle cone maker and fold over a cooling rack to cool in the taco shape. Once cool, fill with ice cream and place back in the freezer for at least 30 minutes to harden. Meanwhile, microwave the chocolate until melted, stirring every 30 seconds.
- Press the crispearls into the ice cream, dip the open part of the taco in the melted chocolate, add sprinkles, and place in the freezer for 10 minutes to harden. Enjoy!
