Mr Taylor, of Alverthorpe, got four ‘yeses’ from judges Simon Cowell, Rita Ora, Cheryl Fernandez-Versini and Nick Grimshaw with his performance of Walk the Moon’s Shut Up and Dance With Me.
The judges enjoyed ice cream which the dad-of-three normally sells on a tricycle on Wakefield Cathedral precinct and despite a food fight breaking out between the judges, Mr Taylor did enough to make it through to the next stage of the talent competition.
After his performance judge and singer Rita Ora said: “All jokes aside, you carried the song out well. I would love to see you again.”
Simon Cowell said: “ I like your voice it was good choice of song. You got four Mr Whippys congratulations.”
Mr Taylor, 35, will now compete in the boot camp in the over 25-year-olds category.