For chocolate covered peanuts: Melt the chocolate in a glass bowl in the microwave at half power, stirring every 30 seconds till smooth. Stir in the peanuts till well coated.

Spread out onto waxed paper and let cool. When completely cool, break or cut into small pieces.

For ice cream: In a large saucepan, whisk together the milk, sugar, salt, egg yolks, and 1/2 cup of the cream. Whisk and cook over medium heat till thickened.

Pour through a mesh strainer into a glass bowl. Add the remaining 1 1/2 cups cream and vanilla. Place in an ice water bath to cool, then chill for at least 3 hours. Freeze in an ice cream maker.

Spread about a third of the ice cream mixture into freezer safe container. Then add a third of the chocolate sauce, and a third of the chocolate covered peanuts. Repeat layers. Cover and freeze for 2-3 hours till firm.