Taco Cacao

Taco Cacao is a locally owned Mexican taco-and-burrito operation in Waldo, launched in early 2021 by restaurateur Victor Esqueda (owner of Ixtapa, co-owner of Cacao Restaurante) as a food-truck offshoot of Cacao Restaurante, that grew from a Kansas City food truck into a brick-and-mortar spot at 7927 Wornall Rd. Its production was originally based at Cacao Restaurante on 103rd Street, which has since closed (Mexico Lindo KC took over that space in March 2024).

Description

Taco Cacao serves regional Mexican tacos, burritos, and other fare with an emphasis on local ingredients and a homemade taste.¹ The business started as a Kansas City food truck in early 2021 and now operates a Waldo storefront at 7927 Wornall Rd. During Cacao Restaurante’s operation, most of the truck’s food was prepared there (103rd & State Line) and finished at the truck/storefront;²³ that 103rd Street location has since closed (Mexico Lindo KC took over the space in March 2024),⁴ so Taco Cacao’s current production/commissary arrangement is not documented. It is listed in the Waldo KC business directory as a neighborhood member.⁵

Ownership and history

Taco Cacao was launched around February 2021 by Victor Esqueda — the Kansas City restaurateur behind Ixtapa and Cacao Restaurante — as a food-truck offshoot of Cacao Restaurante.⁶² Feast Magazine names Alfonso Esqueda as an owner of the truck.² It remains a locally owned, Esqueda-family operation that expanded from a mobile food truck into a fixed Waldo storefront (plus a Roeland Park, KS truck), with Cacao Restaurante on 103rd Street then serving as the production hub.²³ (Cacao Restaurante has since closed — see Cacao Restaurante.)

Menu

Last verified: 2026-07-25 · Source: Taco Cacao official menu (tacocacao.com/menu) · Confidence: High (complete per-item prices verified from official website)

Mexican tacos, burritos, quesadillas, bowls, and sides. Wornall Rd, Waldo. Daily 11am–8pm.

Tacos (all $3.33 unless noted):

• Chicken Al Pastor (chicken marinated in achiote sauce, pineapple pico de gallo, chipotle aioli) — $3.33
• Ground Beef (ground beef in red sauce, pico de gallo, cilantro) — $3.33
• Birria (slow roasted beef, onion, cilantro; add cheese +$0.49) — $3.33
• Pork Cochinita (adobo roasted pork, pickled red onions, cilantro; add cheese +$0.49) — $3.33
• Steak Asada (steak marinated, onion, cilantro; add cheese +$0.49) — $3.33
• Vegetarian Taco (cheese, mixed vegetables; add cheese +$0.49) — $3.00
• Fish Taco (white fish marinated, lettuce, pineapple pico de gallo, chipotle mayo) — $3.33
• Pork Al Pastor (pork marinated in al pastor sauce, onion, cilantro) — $3.33
• Shrimp Taco (shrimp marinated, lettuce, pineapple pico de gallo, cheese, chipotle aioli) — $3.33

Burritos (all $9.78 unless noted):

• Chicken Al Pastor — $9.78
• Ground Beef — $9.78
• Birria — $9.78
• Pork Cochinita — $9.78
• Steak Asada — $9.78
• Vegetarian Burrito — $9.30
• Pork Al Pastor Burrito — $9.78
• Fish Burrito — $9.78
• Shrimp Burrito — $9.78

Quesadillas (all $9.78 unless noted):

• Ground Beef Quesadilla — $9.78
• Steak Asada Quesadilla — $9.78
• Beef Birria Quesadilla — $9.78
• Pork Cochinita Quesadilla — $9.78
• Pork Al Pastor Quesadilla — $9.78
• Chicken Al Pastor Quesadilla — $9.78
• Cheese Quesadilla — $8.50
• Vegetarian Quesadilla — $9.30
• Fish Quesadilla — $9.78
• Shrimp Quesadilla — $9.78
• BIRRIA QUESADILLA SPECIAL — $19.00
• 3 Quesa Birria Tacos — $12.00

Bowls (all $9.78):

• Ground Beef Bowl (Mexican rice, pinto beans, shredded lettuce, ground beef, pico de gallo, chipotle aioli) — $9.78
• Steak Asada Bowl (Mexican rice, pinto beans, shredded lettuce, steak asada, onions, cilantro, chipotle aioli) — $9.78
• Beef Birria Bowl (Mexican rice, pinto beans, shredded lettuce, beef birria, onions, cilantro, chipotle aioli) — $9.78
• Pork Cochinita Bowl (Mexican rice, pinto beans, shredded lettuce, pork cochinita, pickled onions, cilantro, chipotle aioli) — $9.78
• Pork Al Pastor Bowl (Mexican rice, pinto beans, shredded lettuce, pork al pastor, onions, cilantro, chipotle aioli) — $9.78
• Chicken Al Pastor Bowl (Mexican rice, pinto beans, shredded lettuce, chicken al pastor, pineapple pico de gallo, chipotle aioli) — $9.78
• Vegetarian Bowl — $9.78
• Fish Bowl — $9.78
• Shrimp Bowl — $9.78

Family Packs:

• Burritos (4) — $36.00
• Tacos (14) — $42.00

Sides:

• Rice — $1.78
• Pinto Beans — $1.78
• Shredded Cheese — $1.59
• Salsa — $0.35

Tamales:

• Pork Tamal — $3.50
• Dozen Pork Tamales — $30.00

Beverages:

• Bottle Mexican Coke — $4.00
• Bottle Mandarin Jarrito — $3.50
• Bottle Pineapple Jarrito — $3.50
• Bottle Sangria — $3.50
• Can Diet Pepsi, Sprite, Squirt, Dr Pepper, Diet Dr Pepper, Pepsi (all) — $2.50

Menu accessed 2026-07-25 via tacocacao.com/menu, rendered via Firecrawl.

Links

• Official site: https://www.tacocacao.com/
• Instagram: https://www.instagram.com/taco_cacao/

Sources

Footnotes

1. Yelp — Taco Cacao, 7927 Wornall Rd (Updated May 2026). https://www.yelp.com/biz/taco-cacao-kansas-city — asserts: address 7927 Wornall Rd, Kansas City, MO 64114; food-truck / Mexican category; active listing updated May 2026. ↩

2. Feast Magazine — “Taco Cacao, a new taqueria on wheels, offers birria, street tacos, burritos and more” (June 2021). https://www.feastmagazine.com/travel/kansas-city/taco-cacao-a-new-taqueria-on-wheels-offers-birria-street-tacos-burritos-and-more-in/article_03c1cc3a-c4af-11eb-b2a1-a7e1b13a7671.html — Confirms: Alfonso Esqueda named as an owner; Taco Cacao is a sister-site/offshoot of Cacao Restaurante (103rd & State Line), where most food is prepped before finishing at the truck; menu includes birria, al pastor chicken, carne asada, cochinita pork, ground beef, and vegetarian options; food truck operating a few months as of June 2021. ↩ ↩² ↩³ ↩⁴

3. MIKCexplore — “Taco the Town: Taco Cacao” (Jan 2022). https://mikcexplore.com/home/2022/1/7/profile-taco-cacao — Confirms: one-truck offshoot of Cacao Restaurante grown to a brick-and-mortar at 79th & Wornall (Mon–Sat 11am–8pm, Sun 11am–3pm) plus a Roeland Park, KS truck; signatures cochinita and slow-roasted beef birria tacos; catering offered. ↩ ↩²

4. The Brazen Gourmets (chuckeatskc) — “Kansas City Restaurant Openings, Closings, and News – March 2024.” https://chuckeatskc.com/kansas-city-restaurant-openings-closings-and-news-march-2024/ — asserts: Mexico Lindo KC opened in March 2024 at 1046 W 103rd St in the former Cacao Restaurante (and former Applebee’s) space in Watts Mill Plaza — i.e., Cacao Restaurante’s 103rd Street location had closed by then. (Cross-ref Cacao Restaurante.) ↩

5. Waldo KC business directory — Taco Cacao. https://members.waldokc.org/directory/Details/taco-cacao-2174298 — asserts: Taco Cacao is a Waldo neighborhood member business. ↩

6. The Pitch — “Ixtapa’s Victor Esqueda wants to change our expectations of Mexican cuisine” (Jan 2021). https://www.thepitchkc.com/ixtapas-victor-esqueda-wants-to-change-our-expectations-of-mexican-cuisine/ — Confirms: Victor Esqueda owns Ixtapa (est. 2004) and Cacao Restaurante and launched Taco Cacao (“Tacos Cacao”) as a food truck at 79th & Wornall about a month after the Jan 2021 article, i.e. ~February 2021. ↩