In a medium pan whisk together the cocoa powder and sugar. While whisking add the milk and the cream. Whisk together well combined. Place the pan over medium to medium-high heat. When the milk mixture starts to steam (but isn't boiling) add the chocolate and whisk until the chocolate melts. Remove from the head and add the vanilla and peanut butter and stir until well combined. Place the ice cream mixture in a container, cover, and refrigerate until cool (about 4 hours or overnight).

Pour the ice cream mixture in your ice cream maker and process according to manufacturer’s instructions.

I use a Cuisinart Ice Cream Maker that you just freeze the canister the ice cream is made in. It takes about 15 minutes to make ice cream with no salt and ice to mess with. I love it! If you like a harder ice cream, put the ice cream in a freezer container and cover. Let it freeze for at least 2 hours before serving. The ice cream straight out of the maker is just like soft-serve. Out of the freezer it is like store-bought.