In a small saucepan, whisk together cocoa powder, sugar, and 2 tablespoons heavy cream over medium-low heat. Add unsalted butter and whisk until the butter melts and the mixture becomes smooth. Remove from heat and whisk in vanilla extract and a pinch of salt. Set aside to cool.

In a stand mixer, beat 2 cups cold heavy cream until stiff peaks form.

In a separate bowl, stir together sweetened condensed milk, vanilla bean paste (or extract), and a pinch of salt. Fold in the whipped cream until smooth.

In a loaf pan, spoon one-quarter of the ice cream base and drizzle one-third of the cooled fudge sauce over it. Repeat layers and finish with ice cream. Freeze for about 3 hours.

Whisk egg whites, granulated sugar, brown sugar, and vanilla extract in a bowl until well combined.

Mix in salt and half of the flour, then add remaining flour and melted butter. The batter should be thick.

Preheat a waffle cone maker. Place a heaping tablespoon of batter in center and cook until golden brown (about 3 minutes). Shape into a taco while warm.

When ice cream is slightly softened, scoop into each waffle cone shell and smooth down. Freeze for 10–15 minutes.

Microwave chocolate chips and coconut oil until melted. Stir in chopped peanuts.

Dip the top edge of each taco into the chocolate-peanut mixture and return to the freezer.