To make the ice cream: Use a reusable ice cream container or line a loaf pan with parchment paper and place it into the freezer. Combine the sweetened condensed milk, vanilla and salt in a large mixing bowl.

In a separate large mixing bowl, beat the heavy whipping cream on medium-high speed until still peaks form, similar to making whipped cream.

Gently fold the whipped cream into the sweetened condensed milk mixture.

Pour half of the mixture into the prepared pan, spoon half the chocolate fudge onto the top, then pour the remaining ice cream mixture on top. Spoon the remaining fudge sauce on top. Take a butter knife or chopstick, or something similar, and swirl the fudge sauce around, making sure to mix it in well.

To make the waffle taco shells: Run a paper towel under water to dampen it, carefully wring the water out, and wrap it around a waffle cone. Microwave for 25-30 seconds. Remove the paper towel and flatten. IMPORTANT: The wet paper towel will be hot and steaming, so be careful not to burn yourself. We insist that you use a flexible oven mit to remove it, so that you don't burn yourself. Use the edge of a cutting board to shape the waffle cone into a taco. You'll need to work fast. Reheat if it hardens before you've shaped it. Repeat until you have all six taco shaped waffle cones ready.

When you are ready to assemble the Choco tacos: Allow the ice cream to soften for 10-15 minutes. Then spoon the ice cream into the center of the taco shaped waffle cone. Fill the inside completely, and until it’s filled to all the edges. Place the Choco tacos on a cookie sheet or a plate in the freezer, and repeat until all six are filled. Freeze for 1 hour or until they are firm and ready for the melted chocolate.

To make the hard chocolate shell: Microwave the chocolate chips and coconut oil in a small mixing bowl on medium heat for 30 seconds at a time until they start to melt. Stir until smooth. Do not overheat or the chocolate will burn and start to clump.

As soon as the chocolate is warm and melted, pull the Choco Tacos out of the freezer one at a time and spoon the melted chocolate over the top and part of the sides, anywhere the ice cream is exposed.

Sprinkle chopped peanuts on top and place it back into the freezer. Repeat until all six Choco Tacos are made.

Store the Choco Tacos in an airtight container in the refrigerator for up to 3 months.