These Homemade Choco Tacos are spread with a very thin layer of chocolate on the inside, to keep them from getting soggy from the ice cream. I filled mine with a chocolate-caramel-pretzel ice cream I bought at the store, but you can fill yours with any homemade or store bought ice cream!
Preheat the waffle cone maker according to the manufacturer's instructions.
In a small bowl, whisk together the flour and salt and set aside for now. In a large bowl, whisk together the eggs and sugar for about a minute, until thick and foamy. Add the flour and stir well, then add the melted butter and milk, and whisk until everything is smooth and homogenous.
Pour a generous spoonful of batter in the waffle cone maker (about 3-4 tablespoons) and quickly use a spatula to spread it in an even layer. Close the lid and cook the waffle for 1-2 minutes, until golden brown. For the first few waffles, you might need to tweak the cooking time or temperature until you get a feel for how long your particular appliance takes.
Once the waffle is golden brown, use a spatula to ease it off of the maker. Form it into a taco shape—you can use a taco mold if you happen to have one, or set it in the middle of an actual corn taco shell! Or you can just stand two books upright, fold the waffle in half, and set it between the books to harden. It should only take a minute or two for the shell to harden enough so that you can move it. Repeat until all of your batter is used. You should get 9-10 tacos from this recipe. Cool the shells completely before you proceed.
Get the ice cream out of the freezer, and let it sit and soften for a few minutes, until it is soft but not melted. While waiting for the ice cream to soften, melt the chocolate in a microwave-safe bowl, stirring after every 30 seconds to prevent overheating. Use a pastry brush to brush a very thin layer of chocolate on the inside of the waffle shells—this will keep the shells from getting soggy. Put the waffles in the refrigerator or freezer for 10 minutes to firm up the chocolate.
Scoop the softened ice cream into the waffle shells, packing it in gently and smoothing the top so it's even with the edges of the waffle. Freeze the ice cream-stuffed waffles until very firm, for at least an hour (or longer, depending on your freezer).
Re-melt the remaining chocolate, and stir the chopped peanuts into the chocolate. Make sure the chocolate is warm and fluid, but not hot to the touch. Working quickly, dunk the edges of a taco into the chocolate, turning it so that the ice cream is entirely sealed under a layer of chocolate. Repeat until all of the tacos have a chocolate coating around the edges. You can serve the Choco Tacos once the chocolate hardens, or store them in an airtight bag or container in the freezer until ready to serve.