Begin by slightly dampening the waffle cones with a clean cloth or a few drops of water; reshape each cone into a taco shell and place upright in a sturdy container.

Using a scoop, fill each waffle cone taco shell with creamy vanilla ice cream, pressing gently to pack it in.

Melt chocolate chips in a microwave-safe bowl in 30-second intervals, then dip the open end of each filled taco into the melted chocolate.

Line a baking sheet with parchment paper and place each filled and coated choco taco on the sheet. Freeze for at least 1 hour.

Once frozen, remove from freezer and serve immediately for the best texture.