Beat 200 ml of the whipped cream until stiff and refrigerate. Mix the sweetened condensed milk with the peanut butter until creamy, then gradually stir in the remaining 120 ml cream and milk. Finally fold in the whipped cream and chopped chocolate.
Pour the mixture into a mold lined with cling film, place in the freezer and let freeze for a few hours, stirring occasionally.
For the caramel, melt the sugar in a large saucepan without stirring. As soon as it starts to caramelize, stir. It may now clump a little, but that doesn`t matter.
Add the cream and stir until everything has dissolved and a caramel sauce is formed. Now take the pot off the stove and stir in the peanuts.
As soon as the mixture has cooled down, spread everything on the peanut ice cream and smooth it out.
To serve, take the ice cream out of the freezer a few minutes beforehand and let it thaw, then cut into slices and serve.