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Preheat your oven to 350°F (175°C). Whisk melted butter, sugar, eggs, and vanilla together until glossy. Sift in flour, cocoa, salt, and baking powder, then stir until smooth. Spread batter into thin circles (about 6 inches) on parchment paper. Bake for 6–8 minutes edges should be set but centers soft. Immediately drape warm rounds over a rolling pin or loaf pan edge to form taco shapes. Cool completely.
Beat peanut butter and cream cheese together until smooth. Add powdered sugar and vanilla. In a separate bowl, whip the cream to stiff peaks. Gently fold into the peanut butter mix until light and mousse-like. Chill for 30 minutes.
Spoon or pipe the chilled filling into each cooled brownie taco. Sprinkle with crushed cookies and drizzle with fudge or syrup. For extra crunch, dip taco edges into melted chocolate before filling.
Keep refrigerated until ready to serve. These tacos are best cold slightly firm on the outside, creamy on the inside.