Make the pizzelle - Mix all the ingredients in a bowl. Heat up your pizzelle maker and put tablespoons of batter onto the iron. Cook until done (results may vary based on your pizzelle maker). Immediately bend into the taco shape by hanging it on a book or cutting board. Start the next batch as it cools. Once hardened, place them all onto a baking sheet to continue to cool until needed.

Make the ice cream - Microwave the milk and whisk in the milk powder, sugar, xanthan gum, and instant coffee. Once everything is dissolved, whisk in the cold cream and salt. Freeze the ice cream according to your ice cream machine manufacturers instructions. (it probably should be very cold before you put it into the machine. Put it into the freezer to harden further before filling the tacos.

Fill up the taco shells! Be careful cause they are a little fragile. Once full, drizzle a little nutella on top! Do a better job at the drizzle than I did! Get these things right into the freezer!