Bake this irresistible Dessert Taco at home. Made with waffle, vanilla ice cream, peanut butter and chocolate syrup. Easy step-by-step instructions incl…
This Dessert Taco relies on simple, everyday ingredients such as (4 inch) waffle, scoop vanilla ice cream, peanut butter, or to taste and chocolate syrup, or to taste. It comes together quickly and makes 4 servings, at about 156 kcal each. The step-by-step instructions below are written to be easy to follow, even on a busy day.
Whether you're rounding off a family dinner, bringing a treat to a gathering, or simply satisfying a sweet craving, this Dessert Taco delivers. Serve it warm or at room temperature, and add a scoop of ice cream or a spoonful of whipped cream for an extra-special finish.
Updated Jun 30, 2026