Both candidates announced their support for the idea in Nevada, a state seen as a toss-up in the election.
Restaurants and hotels employ more than 20% of the workforce in the state, which is known for its Las Vegas casinos.
Mr Trump said he started to champion the policy after a waitress complained to him about her taxes.
Republicans, who have long favoured lower taxes, adopted it as part of their official party platform, external and several bills are now circulating in Congress, backed by restaurant lobby groups.
Some Democrats also have voiced support – including President Joe Biden, whose press secretary said that he backed the idea a day after Ms Harris endorsed the plan.
The discussion comes as electronic payments make tips easier to trace, raising the risk of failing to report or under-reporting such income, an historically common problem.
For all the buzz that ending taxes on tips has generated, however, it is a relatively niche issue.
Nationally, an estimated 4 million workers regularly receive tips – less than 3% of the overall workforce, according to an analysis by Yale University’s Budget Lab, external.
What’s more, a significant share of those workers – about 37% – earn so little that they do not currently pay income taxes to the federal government at all, the analysis found.
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