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Export 6 ingredients for grocery delivery
Step 1
Heat milk in a saucepan over medium heat without boiling until steaming, about 4 minutes. Beat egg yolks and sugar in a large bowl. Slowly whisk hot milk into yolk mixture until well mixed; return mixture to saucepan and continue to cook on medium heat.
Step 2
Gradually stir peanut butter and vanilla extract into milk mixture until thoroughly combined, about 5 minutes. Pour peanut mixture into large bowl and cool for 15 minutes.
Step 3
Stir heavy cream and peanut butter cups into milk mixture, pour into an ice cream maker, and freeze according to the manufacturer's instructions.
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