Make waffle cone batter from recipe in link above.
Once batter has been made, heat your waffle iron (or a nonstick pan over medium heat). Pour 1 heaping tablespoon of batter onto the hot surface and close the lid of the waffle iron. **If using the stovetop, quickly spread batter into a thin circle, heat for 2 to 3 minutes, flip and cook for another minute before removing from the heat.
Quickly remove the waffle cone disc from the iron and place it on a flat, clean surface. Place the handle of a wooden spoon in the center of the disc and gently fold over half the disc until parallel with the other half. Hold for about 1 minute or until the waffle shell hardens completely. Set aside. Repeat until all the batter has been used.
Place two clean loaf pan, lined with parchment in the freezer.
Allow frozen custard or ice cream to sit out at room temperature for 5 to 10 minutes; you want the ice cream to soften a bit, but not melt.
Quickly but carefully spoon and press the ice cream into the waffle shells, smoothing the edges. After filling 2-3 shells, place them in one of the two freezer loaf pans, upright and stacked against one another. Repeat until all shells have been filled and placed in the freezer.
Allow ice cream to re-freeze, about 1 hour.
Place a clean baking sheet, lined with parchment paper, in the freezer.
Taking 2-3 ice cream filled waffle shells out at a time, quickly but carefully dip the open edge of each shell into the melted chocolate, shaking to remove any excess.
Transfer choco tacos to the freezer baking sheet and repeat until all choco tacos have been made.
Allow chocolate to thoroughly freeze, 20-30 minutes, before serving.
Once the choco tacos are completely finished and frozen, wrap them individually and keep them in the freezer for up to 2 months.