Assuming that the name of the et-cart-info class is unique would be something like that. Otherwise, I would recommend adding an id.
This example is using pure javascript, in case you do not use jQuery.
document.getElementsByClassName('et-cart-info')[0].firstElementChild.innerHTML = 'NuevoTexto';
<div id="et-secondary-menu">
<ul id="et-secondary-nav" class="menu">
<li class="menu-item menu-item-type-post_type menu-item-object-page menu-item-has-children menu-item-1405">
<a href="https://handcraftedchile.com/mi-cuenta/">Mi cuenta</a>
<ul class="sub-menu">
<li class="menu-item menu-item-type-post_type menu-item-object-page menu-item-1407"><a href="https://handcraftedchile.com/carro/">Carrito</a></li>
<li class="menu-item menu-item-type-post_type menu-item-object-page menu-item-1406"><a href="https://handcraftedchile.com/finalizar-comprar/">Verifica tu compra y selecciona medio de pago</a></li>
</ul>
</li>
<li class="menu-item menu-item-type-post_type menu-item-object-page menu-item-1444"><a href="https://handcraftedchile.com/contacto/">Contacto</a></li>
</ul>
<a href="https://handcraftedchile.com/carro/" class="et-cart-info">
<span>0 elementos</span>
</a>
</div>