Tumaini University Dar es Salaam College (TUDARCo) is a constituent college of the Tumaini University Makumira (TUMA) and is owned by Eastern and Coastal Diocese of of the Evangelical Lutheran Church in Tanzania (ELCT). TUMA is located at Usa River (Makumira) near Arusha. Currently the TUMA consists of three constituent Colleges, namely: Kilimanjaro Christian Medical University College (KCMUCo), in Moshi; Tumaini University Dar es Salaam College (TUDARCo), in Dar es Salaam; and Stefano Moshi Memorial University College (SMMUCo), in Moshi.

The origins of TUDARCo are embedded in the then Waldorf College Tanzania (WCT), established in 1997 as a branch and later a mission of Waldorf College, Forest City in Iowa, USA. The Waldorf College of Tanzania (WCT) was established by the Waldorf College, Iowa Forest Hill of the United States of America. In 2001, the Waldorf College Council decided to close her operations in Tanzania and the College was handed over to the Eastern and Coastal Diocese of the Evangelical Lutheran Church in Tanzania (ECD-ELCT). The Waldorf College of Tanzania then joined the Tumaini University family and changed the name to Tumaini University Dar-es-Salaam College (TUDARCo). As a result, TUDARCo was born from WCT on 1st April 2003 as a constituent College of Tumaini University, joining Makumira, KCM and Iringa University College which existed during that time.