Warm the milk, sugar, peanut butter, 1 cup of heavy cream and salt in a medium saucepan over medium-low heat, stirring until the sugar is dissolved and the peanut butter has melted. Simmer for 1-2 minutes until the mixture bubbles around the edges of the pan. Remove from the heat and allow to cool slightly.

Add the egg yolks to a large mixing bowl. Whisk well with a wire whisk or electric hand mixer.  Add large spoonfuls of the warm peanut butter milk mixture to egg yolks, whisking well between additions. Whisk in all of the warm peanut butter milk in this fashion. Once combined, pour the mixture back into the saucepan.

Place the saucepan back on the stove and heat over medium flame until the mixture thickens and coats the back of the spoon. Stir constantly to avoid scorching.  The mixture should register (170°F – 175°F/79°C-77°C) on an instant-read digital thermometer.

Add the remaining heavy cream to a large clean mixing bowl.  Whisk in the warm peanut butter custard.* Add the vanilla. Cover the bowl and allow to cool to room temperature, about 1 hour. Place in the refrigerator to chill overnight, at least 8 hours.

Pour the mixture into your ice cream maker. Follow the manufacturer’s instructions for churning and freezing the ice cream.

Find a container for storing your ice cream after it is churned. I prefer to use a 5″ x 9″ (12.7cm x 23cm) loaf pan with a piece of parchment paper lining the bottom interior.  You can also use a 2 qt/2lt plastic food storage container.

Scoop the ice cream into your storage container. Place in the freezer for at least 24 hours for ice cream to set.