1Prepare the no-churn fudge ripple ice cream by combining sweetened condensed milk, vanilla extract, and heavy cream in a bowl. Whip with an electric mixer and pour into a loaf pan.
2Prepare the chocolate coating by combining melted butter, cocoa powder, and powdered sugar in a bowl. Whisk until smooth.
3Prepare the waffle cones by combining all purpose flour and melted butter in a bowl. Whisk until smooth, then cook on a waffle cone maker until golden brown.
4Mix the prepared chocolate mixture with the prepared ice cream mixture. Let it freeze for a couple of hours.
5Assemble the choco tacos by placing scoops of ice cream into the waffle cones.
6Dip the assembled choco tacos into the chocolate peanut coating, which is made by combining the melted chocolate with chopped peanuts.