Step 1

For the ice cream base: Pour the heavy cream into a stand mixer bowl. Add the vanilla extract. Using the whisk attachment, whip the cream into stiff peaks. Meanwhile, pour the condensed milk into a separate large bowl.

Step 2

Gently fold half of the whipped cream into the condensed milk, then add the remaining whipped cream and fold in until combined. Transfer the mixture to a loaf pan or freezer-safe container. Cover with plastic wrap pressed directly against the surface of the mixture and freeze until the base is set (partially frozen but still scoopable), 2 to 3 hours.

Step 3

Meanwhile, make the chocolate sauce: Combine the sugar, cocoa powder and salt in a saucepan. Whisk to remove any lumps. Add 1/4 cup water and whisk. Set the saucepan over medium-high heat and bring to a boil. Remove from the heat, then add the vanilla and set aside to cool.

Step 4

For the peanut butter sauce: Add the peanut butter to a small saucepan and heat over medium heat until smooth. Turn off the heat and let cool slightly.

Step 5

Remove the ice cream base from the freezer. Scoop out half into a bowl. Pour half of the chocolate sauce over the base in the loaf pan and swirl with a knife. Add half of the peanut butter sauce and swirl. Sprinkle on half of the peanuts. Add the removed ice cream back to the loaf pan, then smooth the top. Add the remaining chocolate and peanut butter sauces and swirl. Top with the remaining peanuts. Cover with plastic wrap and return to freezer to set up until frozen, 2 to 3 hours.

Step 6

Scoop into bowls and serve.