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Abstract Edible insects are gaining attention as sustainable protein sources. In Madagascar, where malnutrition and stunting are prevalent, entomophagy is traditional, yet the Black Soldier Fly is not commonly consumed. This study aimed to assess consumer acceptance of three Black Soldier Fly larvae-based products in rural Madagascar (whole larvae, BSF powder, and crackers containing BSF powder), using a white bean soup meal as a virtual control. Further, we intended to identify cultural, sensory, and psychological factors influencing acceptance before and after consumption. A mixed-methods approach combining surveys and focus group discussions was conducted among seventy households from seven villages around the Manombo Special Reserve, a rainforest-dwelling community in south-east Madagascar. Participants exhibited moderate food neophobia (33.78 ± 1.22). Of these, 92% reported having eaten insects, and 88.1% did not consider insect food disgusting. Over half believed that insect consumption offers significant advantages, whereas a minority (9%) expressed concerns about microbes, poisons/toxins, or allergies. Among the tested products, crackers containing BSF powder were most preferred across all sensory criteria (appearance, smell, taste, texture), while whole larvae were least accepted, often rejected due to visual disgust, odour, and difficulty swallowing. Powder received moderate acceptance. 95 and 79% of children liked the crackers and powder, respectively, 84% of children consumed all three products offered to them. Lack of familiarity was cited as a key barrier to acceptance of the larvae; however, providing information about the origin and benefits of BSF was suggested as a means of improving perceptions. Future initiatives should focus on promoting processed BSF products, targeting children for early adoption, and investing in educational programmes that demystify production while highlighting nutritional and environmental benefits.