Heat the whole milk and then whisk in the peanut butter until it has melted. Remove from heat and add the sugar, the Half & Half and the heavy cream. Stir in the vanilla and refrigerate until thoroughly chilled. Pour into your ice cream maker and freeze for about 20 minutes.  Once it starts getting thick and almost frozen add in the chopped peanuts and the peanut butter cups and finish freezing.

Pour into plastic containers, cover and freeze for a couple of hours before serving.

Delicious drizzled with chocolate syrup and topped with crushed peanuts.