Instructions

Heat the Stroopwafels until they are barely pliable, but not too soft. You can heat them in a microwave for 15 seconds. If you don’t have a microwave, line the baking sheet with parchment paper, arrange Stroopwafels, and place in a preheated oven at 350 F for 2 minutes. If they become too soft to work with just wait for a minute or two, they will harden slightly. Invert a muffin pan and mold the stroopwafel into a taco shape using the cups to hold each side upright. Wait for 20-30 minutes to cool and firm completely, or chill them in the freezer for 5-10 minutes.
To make vanilla whipped cream, in a bowl beat heavy whipping cream, vanilla, and powdered sugar until stiff peaks form, then set aside. You will get about 2 cups of whipped cream.
In another bowl combine softened cream cheese and powdered sugar and mix until smooth. Next, add pumpkin puree, instant coffee granules, and pumpkin pie spice and mix to combine. Finally, mix in ¼ cup of previously prepared whipped cream.
When ready to serve, assemble the tacos. The easiest way to fill the shells is to transfer the filling and whipped cream in two ziplock-bags, and cut off the corners. First pipe pumpkin pie filling into the shell, then top with whipped cream, drizzle with caramel sauce, and lightly dust with pumpkin pie spice.
Notes
You can make taco shells ahead and store them at room temperature in an airtight container for a few days.
It is best to assemble the tacos before serving or the shells will soften too much. They will keep their shape later but can become soggy.
You can make the taco shells, pumpkin spice latte filling, and whipped cream, a day ahead. Store taco shells in an air-tight container at room temperature and the filling and whipped cream covered in the fridge. assemble when ready to serve.
If using espresso powder instead of instant coffee powder keep in mind that it has a more intense flavor, so adjust the amount to your taste.