I know, that
I am looking forward to hearing from you.
is correct. But I am not sure, if this holds also for other verbs?
So is
I am looking forward to taste your cookies.
or is
I am looking forward to tasting your cookies.
correct?
It is indeed. In each case, you need an object, so you need a noun or noun phrase:
I am looking forward to the holidays.
So in order to make a verb serve you must use the gerund.
I am looking forward to taking some time off.