For creamy peanut butter milk ice cream, first whip whipping cream until stiff.
Rinse salted peanuts thoroughly in a sieve under hot water, spread on a sheet of kitchen roll and allow to dry. (If using “fresh” peanuts, remove them from the shell, spread on a baking tray lined with baking paper and roast in the oven until they begin to smell fragrant. Then rub off skin and process according to recipe). Coarsely chop half of the nuts.
Squeeze condensed milk from tube into mixing bowl. Add peanut butter, chopped and whole peanuts and mix until peanut butter and condensed milk are well blended.
Gently fold in whipped cream with a whisk.
Pour peanut mixture into freezer-safe ramekins (e.g. silicone molds), cover with plastic wrap and place creamy peanut butter milk ice cream in freezer for at least 2 hours.