Ice Cream Tacos

Name: Ice Cream Tacos
Prep time: 5 min
Cook time: 5 min
Total time: 10 min
Yield: 6 servings
Ingredients: Pizzelle Cookie Maker; Hard Shell Taco Mold; Cannoli Mold; 1 cup Millet Flour; 1/2 cup Brown Rice Flour; 1/2 cup Arrowroot Powder; 1 tbsp Vanilla Protein Powder; 3/4 cup Maple Sugar; 1/2 cup Butter; 2 tbsp Water; 1 tsp Vanilla Extract; 3 Eggs; 1/2 tsp Salt; 1/2 cup Chocolate Chips; 1/2 cup Raw Cream; Whipped Cream

These Ice Cream Tacos are pure dessert nostalgia—crisp gluten-free waffle shells filled with creamy ice cream and dipped in a chocolate magic shell that cracks with every bite. They’re playful, customizable, and made with clean ingredients, giving you all the joy of the classic Ice Cream Taco but homemade and gluten-free. Perfect for summer parties, birthday treats, or anytime you want a dessert that’s as fun to make as it is to eat.

Prep

Cook

Total

10m

Ice Cream Tacos

These Ice Cream Tacos are pure dessert nostalgia—crisp gluten-free waffle shells filled with creamy ice cream and dipped in a chocolate magic shell that cracks with every bite. They’re playful, customizable, and made with clean ingredients, giving you all the joy of the classic Ice Cream Taco but homemade and gluten-free. Perfect for summer parties, birthday treats, or anytime you want a dessert that’s as fun to make as it is to eat.

Prep

Cook

Total

10m

Ingredients

Method

Turn cooking mode on

Step 1

Mix all of the cookie shell ingredients together in a bowl and scoop onto a pizelle maker. Cook for about 2 minutes.

For

Helpful Tools

Pizzelle Cookie Maker

Hard Shell Taco Mold

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Dairy Free Modification,

Egg Free Modification,

Desserts,

GF/DF Dessert,

GF/Egg Free Desserts,

Fresh Milled Flour,

Gluten Free,

Refined Sugar Free,

Refined Sugar Free Desserts,

Basic Tier,

Pro Tier

Comments

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MaryEllen T

6 months ago

The ingredient list for these taco shells are the same as for the choco tacos. I want to make the ones pictured, not chocolate ones. I’m missing something here.

Farm Fresh Family

6 months ago

Just corrected it! Thank you for pointing it out :)

Michelle B

7 months ago

Is there a way to print these recipes out?

Farm Fresh Family

7 months ago

Hey! They are not able to be printed off at this time!

Ana Heindl

7 months ago

Hi, first of all I love all your recipes. Thank you so much for creating this wonderful community. I am planning to make these ice cream tacos this weekend. Since I am a new baker I like to weight all my ingredients to be more precise. I was checking the conversions to grams for this recipe and it seems they are off... it says that 1 cup of millet flour is 50 grams... so are the other ingredients... Could you kindly take a look? Thanks in advance for your help!

Farm Fresh Family

7 months ago

Hey! Thank you so much for letting me know! I input all of the recipes (except for the sourdough ones) in cups and the app converts them. I'll look into being able to adjust them!