Ice Cream Tacos

Ice Cream Tacos – Waffles filled with ice cream and toppings make a fun twist on dessert tacos! This one is a kid favorite!

Ice cream taco made with a waffle in the shape of a taco and filled with ice cream and toppings

It is ridiculous how easy these Ice Cream Tacos are to make, but I promise, it will be the IT dessert this spring and summer at your house! Our middle little boy’s birthday is in July so I’m already planning an Ice Cream Taco Bar for my sweet-treat-loving guy! I just love this fun twist on traditional tacos!
I think we all have fond childhood memories of the traditional “ice cream bar” with a spread of different ice cream flavors, syrups, and toppings to choose from. I know we did this activity yearly at our church and youth group. Why not switch it up with a Ice Cream Taco dessert bar?! SO much fun!

How to make ice cream tacos:

I like to use frozen waffles as the shell for the tacos – they are readily available in every grocery store. All you need to do is leave them out on the counter for about 10 minutes to thaw. Alternatively, you could toast them on the lowest setting on your toaster – you just want them to be pliable and not crunchy or else they will break when you bend them into the taco shape.
Several ice cream tacos sitting against each other in a baking dish

How do you keep the ice cream tacos from falling over?

This tip is so key – the waffle taco shells easily fit 4 in a row snug up against each other in a 9 x 13 baking dishYou can either fill them with ice cream ahead of time, or just refreeze the empty shells in the baking dish. That way guests can fill the shells with their favorite ice cream flavor and toppings when it’s time for dessert!
A finished ice cream taco in a paper serving bowl topped with whipped cream and a cherry

Tips to make this more homemade:

Try making your own homemade waffles instead of using the frozen waffles! They will be warm right from the waffle iron and will be perfect for bending into the “taco” shape before filling with ice cream and toppings.

Additional flavor combination ideas:

  • Apple Pie A La Mode Ice Cream tacos – brown sugar waffles with vanilla ice cream and topped with sauteed apples
  • Patriotic Ice Cream Tacos – blueberry waffles with strawberry or cherry ice cream
  • Birthday Cake Ice Cream Tacos – confetti waffles (YES they make these!) with birthday cake ice cream
  • Peanut Butter Lover Ice Cream Tacos – regular waffles with peanut butter ice cream and topped with miniature peanut butter cups
The flavor possibilities are honestly endless!

If you like this recipe for Ice Cream Tacos, please leave a rating and a comment below this post!

Ice Cream Tacos

These Ice Cream Tacos use frozen waffles filled with vanilla ice cream and various toppings for a fun dessert recipe!
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  • 10 frozen waffles
  • 3 cups vanilla ice cream
  • 1/2 cup chocolate syrup
  • 10 maraschino cherries
  • whipped cream and sprinkles


  1. Lay frozen waffles flat on a cookie sheet and allow to thaw, about 10 minutes. Form each into a taco shape and fit together side-by-side in a 9 x 13 baking dish.
  2. Fill each "taco" evenly with vanilla ice cream and a drizzle of chocolate syrup. Freeze until firm.
  3. Top each with whipped cream, sprinkles, and a cherry. Keep frozen, allow tacos to sit for 5 minutes before ready to serve.


Calories: 134kcal
Fat: 4g
Saturated fat: 2g
Cholesterol: 17mg
Sodium: 48mg
Potassium: 112mg
Carbohydrates: 21g
Sugar: 17g
Protein: 1g
Vitamin A: 3.6%
Vitamin C: 0.3%
Calcium: 5.8%
Iron: 2.4%

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