Step 1

Place 8 cookies in a zip-top bag and crush them to fine crumbs with a rolling pin; divide crumbs between four 7.5 ounce dessert cups, about 3 tablespoons per cup.

Step 2

In a large bowl, beat the heavy cream with an electric mixer until stiff peaks form.

Step 3

Place the cream cheese and peanut butter in a mixing bowl and beat until smooth. Add 7 ounces sweetened condensed milk and beat again. Fold in half of the whipped cream. Spoon or pipe the mixture over the cookie crumbs in the dessert cups.

Step 4

Fold in the remaining 1 tablespoon condensed milk with the whipped cream. Spoon or pipe the cream over the filling in each cup. Garnish each cup with 1 whole chocolate sandwich cookie.