Dessert, Kid-Friendly

Ice Cream Tacos

  • Prep 20 mins
  • Freeze Time 24 hours
  • Total 24h 30 mins
  • Medium
  • Serves 2

These ice cream tacos are a fun and delicious dessert to make with your kids! Homemade ice cream inside of fresh waffles, topped with hot fudge and chopped nuts. Decadence made easy.


  • Contains Milk/Dairy
  • Contains Wheat
  • Contains Tree Nuts

Tip: Allergy Advice

This dish contains the following allergens: Milk/Dairy, Wheat, Tree Nuts

Cooking mode

Step-by-step instruction without your screen going to sleep

  • 1/2 tablespoon  cream cheese, room temperature
  • ⅓  cup granulated sugar
  • 1 teaspoon vanilla extract
  • ½  cup heavy whipping cream
  • 1 cup whole milk
  • ¼ cup hot fudge sauce, room temperature
  • 1 cup semisweet or dark chocolate
  • 2 tablespoons coconut oil
  • 2 Belgian waffles (made in Ninja Belgian Waffle Maker)
  • ¼ cup chopped nuts


  • 2 Large Bowls
  • Microwave-Safe Bowl
  • Step 1

    In a bowl, mix the cream cheese, vanilla, and sugar for 1-2 minutes or until well combined.

  • Step 2

    On a low speed slowly stream in the heavy cream then the milk until everything is mixed.

  • Step 3

    Pour base into an empty CREAMi™ pint. Place storage lid on pint and freeze for at least 24 hours.

  • Step 4

    When ready to make ice cream taco, begin by making a batch of waffles using the Ninja Belgian Waffle Maker.

  • Step 5

    As waffles finish baking, let cool on taco holder. If you do not have a taco holder, use the back of an upside-down book. Let cool completely.

  • Step 6

    While waffles are cooling, make the magic shell sauce. In microwave safe bowl combine the chocolate and oil. Microwave in 20 second increments until it is smooth and melted.  

  • Step 7

    Remove CREAMi pint from freezer and remove lid. Place pint in outer bowl, install Creamerizer™ Paddle onto outer bowl lid, and lock the lid assembly on the outer bowl. Place bowl assembly on motor base and twist the handle right to raise the platform and lock in place.

  • Step 8

    Select ICE CREAM and process.

  • Step 9

    With a spoon, create a 1 ½-inch (3.8 cm) wide hole that reaches the bottom of the pint. During this process, it is okay for your treat to press above the MAX FILL line. Fill the hole with Hot Fudge Sauce and process again using the MIX-IN program.

  • Step 10

    Make the tacos by adding two scoops of swirled ice cream to the cooled waffles. Immediately place in the freezer for at least 20 minutes to prevent ice cream from melting.

  • Step 11

    Dip the waffles in the Magic Shell Sauce and immediately top with your chopped nuts of choice.

  • Step 12

    Place back in the freezer for 5 more minutes or until ready to serve.