In a large bowl, combine the flour, sugar, salt, and dry yeast.
Add the warm milk, eggs, and vanilla extract, then start mixing the dough.
Melt the butter and gradually add it to the dough, kneading continuously until you get a smooth, elastic dough.
Cover the dough with a kitchen towel and let it rise in a warm place for about 1 hour, or until doubled in size.
On a lightly floured surface, roll out the dough to about 1.5 cm (½ inch) thick. Use a large glass or cookie cutter to cut out circles.
In a deep pot, heat the oil to 350°F (180°C). Test the oil temperature with a small piece of dough – if it immediately rises to the top and gently fries, the oil is ready.
Fry the doughnuts for 2-3 minutes on each side, until golden brown. Do not overcrowd the pot, so the oil temperature does not drop.
Remove the fried doughnuts and place them on a paper towel-lined plate to absorb excess oil, then let them cool completely.
Mix the peanut butter with the powdered sugar until you get a smooth, thick cream, then transfer to a piping bag.
Using a small hole in the side of the doughnut, use the piping bag to fill the doughnuts with the peanut butter cream.
Melt the dark chocolate with the heavy cream over a double boiler, then dip the top of the doughnuts into the chocolate glaze.
Let the chocolate set, then serve fresh for a peanut butter and chocolate experience!
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