Variation 2 cups (480 ml) full-fat milk 2 cups (480 ml) heavy cream 1 teaspoon pure vanilla extract 6 large egg yolks 1 cup (200 g/7 oz) granulated sugar 1/2 cup smooth peanut butter (not natural) 1 teaspoon freshly ground salt or fluer de see (optional, for salted ice cream) Freeze according to manufacturer's directions until it reaches soft-serve consistency, adding peanut butter cups … Cover and chill at least 4 hours or overnight. Combine sweetened condensed milk, evaporated milk, whole milk, peanut butter, sugar, and vanilla extract in an ice cream maker. Churn in an ice cream machine according to manufacturer’s instructions. Whisk in peanut butter and vanilla extract. Cool mixture to room temperature. Stir until sugar dissolves.