This paper presents the development and evaluation of a cocoa solar roaster using a Parabolic Cylinder Collector (PCC) with two degrees of freedom for solar tracking. The design, construction, and instrumentation of the PCC were divided into three main sections: solar collection area, absorber tube, and solar tracking system. The PCC can roast 0.5 kg of cocoa and monitor ambient temperature, solar irradiance, grain temperature, indoor air temperature, and absorber tube surface temperature. To analyze the roasting process, functionality tests without cocoa and experimental tests with cocoa were conducted. Efficiency was determined, and grain quality was analyzed by measuring moisture content. The experimental tests with cocoa were conducted for roasting times of 40, 55, and 70 min, during solar irradiance between 10:00 and 14:00. Maximum toasting temperatures of 125–137 °C were reached, with average solar irradiance of 685.7–930.5 Wm−2 and ambient temperatures of 34–38.4 °C. The minimum moisture content obtained was 2.19%, close to the optimal value (1–2%). Temperature and roasting time significantly affected moisture reduction. These results suggest the PCC prototype can roast cocoa beans in less than 40 min.