Wrap each waffle cone with a damp paper towel and microwave for 30-40 seconds until it is hot and soft enough to be reshaped.

Unroll the waffle cone. You can trim into a circle with kitchen scissors if you'd like.

Take the flat waffle cone and wrap it around a rolling pin or the handle of a wooden spoon to create a taco shape. Hold for few seconds until it hardens.

Once the tacos are cooled, fill them with ice cream. Freeze the filled tacos for 15 minutes to harden.

Melt chocolate by heating in microwave for 30 seconds, stirring and repeating until melted and smooth.

Dip the top part of the frozen tacos into melted chocolate and crushed peanuts. Return to freezer again until set. Enjoy!