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These Stroopwafel Choco Tacos are the sweet mash-up you didn’t know you needed. Some people might remember the iconic choco tacos they would get from ice cream trucks or convenience stores as kids, but this one’s even better (because it is SO easy to make, anyone can make it!)
Crisp, caramel-filled stroopwafels folded and filled with creamy vanilla ice cream and a generous topping of melted chocolate with crunchy roasted peanuts. It’s an easy no-bake dessert that looks impressive, tastes great, and comes together with just a handful of simple ingredients.
What makes this recipe even better is how customizable it is. You can swap in your favorite ice cream flavor (my homemade pistachio ice cream is a dreamy match), try dark or milk chocolate depending on your sweet tooth, and use any nut you love. If you’re a fan of enjoying ice cream scooped into a waffle cone or sugar cone, you’re going to absolutely love this treat.
Key Ingredients
Here are the ingredients you will need to make this dessert taco. Scroll down to the recipe card at the bottom of the page for the detailed ingredient measurements.
- Vanilla Ice Cream: provides the creamy, sweet filling. Store-bought works, or use my homemade vanilla bean ice cream or Ninja Creami vanilla ice cream.
- Stroopwafels: act as the taco shell.
- Melted Chocolate: serves as the coating that hardens over the ice cream.
- Chopped Roasted Peanuts: adds a salty, crunchy topping that balances the sweetness and gives extra texture with every bite.
How to Make Stroopwafel Choco Tacos
- Warm the stroopwafels. Gently warm each stroopwafel in the microwave or in a dry skillet over medium heat until it’s flexible and bendable. You want them soft enough to fold without cracking.
- Fold into taco shells. While still warm, carefully fold each stroopwafel into a taco shape and stand it upright in an upside-down muffin tin, between two cups, ramekins, or mugs, or in a taco holder.
- Let them set. Leave the shells in place until they cool and firm back up so they hold their taco shape.
- Fill with ice cream. Scoop vanilla ice cream into each stroopwafel shell. If the ice cream starts to melt or get too soft, transfer the filled tacos to a parchment-lined baking sheet and freeze for 15 to 20 minutes until firm again.
- Make the chocolate coating. Melt the chocolate in a small bowl and stir in half of the chopped peanuts to create a crunchy coating that sticks to the tacos.
- Dip and top. Dip the tops of the frozen stroopwafel tacos into the warm chocolate-peanut mixture and smooth the edges with a butter knife or spatula. While the chocolate is still wet, sprinkle over the remaining peanuts.
- Freeze until set. Place the dipped tacos back on the parchment-lined baking sheet and freeze for 10 to 15 minutes, or until the chocolate fully hardens.
Expert Tips
- Fresh or new stroopwafels are easier to bend into a taco shape without cracking. If yours feel stiff or old, warm them for a few extra seconds to help make them more pliable.
- Fold the stroopwafels into the shape of a taco as soon as they’re soft. If they cool too much, they’ll crack when bent. Work one or two at a time so they stay warm enough to shape.
- To avoid melting, fill and dip only a few tacos at a time if you need to. Keep the rest of the shells and ice cream in the freezer until you’re ready for the next batch. Short on time? A thin coat of magic chocolate shell sets in seconds.
- After dipping in chocolate, drizzle with homemade caramel sauce or Nutella and a sprinkle of flaky salt for extra decadence.
Why do you need to make this Stroopwafel choco tacos recipe?
- They’re perfectly portioned and handheld, so they’re great for parties, just like my patriotic ice cream cookie sandwiches.
- It’s a tasty spin on a classic childhood treat.
- The recipe can easily be doubled or tripled for serving big groups.
- They’re so simple to make! All you need is a microwave or stovetop for the chocolate and a freezer.
- You can customize the flavor by using whatever ice cream you want (a bright lemon ice cream is so good in summer) or even changing the flavor of the Stroopwafel. Yes, they have different flavors!
Stroopwafel Choco Tacos FAQs
Some local grocery stores and international markets carry the stroopwafels you need for stroopwafel choco tacos. If not, you can always order them online.
If your stroopwafel choco tacos crack, the stroopwafels likely cooled too much before shaping. Warm them again for a few seconds until they’re soft and flexible. Work with one single stroopwafel at a time to avoid cracking.
Absolutely! Assemble the stroopwafel choco tacos fully and store them in an airtight container in the freezer for up to a week. Just let them thaw at room temp for 2 to 3 minutes before serving so they’re easier to bite into. This is also the method for storing them in general.
That depends on your taste preference and sweet tooth. Semi-sweet is a nice and balanced flavor, while dark chocolate is less sweet, and making milk chocolate stroopwafel choco tacos will be the sweetest option.
You sure can! Almonds, pecans, or hazelnuts would taste great on stroopwafel choco tacos. You can also skip the nuts entirely and add rainbow sprinkles, crushed cookies, or mini chocolate chips instead.
Yes! Vanilla is just a classic and safe choice for stroopwafel choco tacos, but caramel, strawberry, or my no churn coffee ice cream will pair well with the stroopwafel.
It’s best to work in batches when filling your stroopwafel choco tacos. If you’re worried about the ice cream melting, wait until all the shells are set, then quickly fill them and put them in the freezer immediately.
More Ice Cream Treats
If you made these Stroopwafel Choco Tacos, ice cream truck nostalgia unlocked! Leave a ⭐ star rating and tell me which ice cream you stuffed inside. I love hearing from you!!
Stroopwafel Choco Tacos Recipe
Ingredients
- 1 pint Vanilla Ice Cream
- 8 stroopwafels
- 1 ½ cups melted chocolate milk, dark, or semi-sweet
- ½ cup chopped roasted peanuts or any nut you love
Instructions
- Pop each stroopwafel in the microwave for about 15–20 seconds, or warm it in a dry skillet for 20–30 seconds per side over medium heat. You just want them soft enough to bend without cracking.8 stroopwafels
- While they’re still warm and flexible, carefully fold the stroopwafels into a taco shape. A muffin tin works perfectly to hold them upright while they cool and set, but two cups or ramekins placed close together will also do the trick. You could also use a taco stand to make it even easier on you!
- Scoop in your favorite ice cream once they're completely cool (vanilla, caramel, or even coffee ice cream tastes amazing with stroopwafels!). If the ice cream starts melting on you, don’t stress, just pop the tacos on a parchment-lined baking sheet and let them firm up in the freezer for 15–20 minutes.1 pint Vanilla Ice Cream
- Melt your chocolate and stir in half of the chopped peanuts for a nice crunch in every bite.½ cup chopped roasted peanuts, 1 ½ cups melted chocolate
- Dip the tops of the frozen tacos right into that peanut–chocolate mixture, then sprinkle the rest of the peanuts over the wet chocolate. This gives you that pretty, crunchy finish.
- Give the tacos another quick chill in the freezer (about 10–15 minutes) until the chocolate sets completely. Once firm, they’re ready to serve, and trust me, these are best eaten straight from the freezer.
Nutrition
Nutrition information is automatically calculated, so should only be used as an approximation.
Thank you so much for sharing this recipe!! I was so sad when they discontinued the choco tacos but now I can get my fix!!
I feel the same way, that’s why I had to make this! Glad you enjoyed it 🙂