There’s something about summer desserts that brings out the kid in all of us, and that’s what inspired us to make these Gluten-Free Ice Cream Taco Sundaes. Crumbly, sweet Stroopwafel taco shells filled with creamy ice cream and topped with all your favorite sundae toppings? Yes please.
The best part? They’re easy to make and perfect for parties, family nights, or a fun, extra-sweet treat. Using our Gluten-Free Stroopwafels adds that signature caramel, cinnamon cookie flavor while keeping things gluten-free and delicious.
Whether you go classic with chocolate syrup and sprinkles or load them up with fruit and whipped cream, these taco sundaes are guaranteed to disappear fast.
Ingredients
For the Taco Shells:
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Small oven-safe rack or wooden spoon setup for shaping
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Pyrex or other freezer-safe container
For the Sundaes:
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Gluten-free vanilla ice cream or frozen yogurt
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Sprinkles
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Option toppings: chocolate syrup or caramel sauce, chopped nuts, diced strawberries, bananas, or other fruit, mini chocolate chips, and/or whipped cream
Instructions
Step 1: Warm the Stroopwafels
Preheat your oven to 300°F.
Place the Gluten-Free Stroopwafels on a baking sheet and warm for 1–2 minutes, just until flexible. Keep a close eye on them. You want them soft enough to bend, not overly crisp. Alternative process: Microwave Stroopwafels at 10-second intervals until warm, flat on a microwave-safe plate. (Beware, this process can make the caramel filling very hot.)
Step 2: Shape Into Taco Shells
Carefully drape each warmed stroopwafel over a wooden spoon handle, oven rack, or taco shell mold.
Allow them to cool in the freezer for 20-30 minutes before turning over to fill.
Step 3: Fill & Decorate
Once cooled, fill each shell with scoops of your favorite gluten-free ice cream.
Top with:
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Whipped cream
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Chocolate or caramel drizzle
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Sprinkles
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Fruit
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Nuts
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Extra stroopwafel crumbs
The more creative, the better.
Tips & Variations
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Make it Extra Sweet
Drizzle the inside of the taco shell with melted chocolate before adding ice cream.
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Coffee Lover Version
Add a scoop of coffee ice cream and top with crushed stroopwafel pieces for the ultimate dessert pairing.
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Dairy-Free Option
Use dairy-free GF Vegan Stroopwafels and dairy-free ice cream and whipped topping for a fully gluten-free & dairy-free treat.
Why We Love This Recipe
These Ice Cream Taco Sundaes are:
✔ Gluten-Free
✔ Fun for kids and adults
✔ Perfect for summer gatherings
✔ Easy to customize
✔ Made with our Gluten-Free Stroopwafels
Because everyone deserves a fun dessert moment 💛 Whether you’re making these Gluten-Free Ice Cream Taco Sundaes for a summer party, family movie night, birthday celebration, or just a sweet weekend treat, this recipe is an easy way to bring creativity and delicious flavor together. Using our Gluten-Free Stroopwafels gives these dessert tacos that signature caramel, cinnamon, and cookie flavor people love, all while keeping them gluten-free for those with celiac disease or gluten sensitivities.
Looking for more easy gluten-free dessert ideas? We love sharing creative recipes using our Gluten-Free Stroopwafels and Gluten-Free No-Bake Stroopwafel Pie Crust, from ice cream desserts and cheesecakes to pie recipes and no-bake treats. To see the full step-by-step video tutorial for these Gluten-Free Ice Cream Taco Sundaes and follow along for more dessert inspiration, behind-the-scenes content, and new recipe ideas, visit our Instagram page HERE.
