In a medium saucepan, heat the milk and heavy cream over medium heat until it almost reaches a simmer. Do not let it boil!
Meanwhile, in a separate bowl, whisk together the egg yolks and sugar until light and creamy.
Gradually whisk a small amount of the warm milk mixture into the egg yolk mixture to temper the eggs and prevent them from curdling.
Pour the entire mixture back into the saucepan and cook over low heat, stirring constantly, until the mixture thickens enough to coat the back of a spoon.
Remove from heat and stir in the melted dark chocolate, vanilla extract, salt, and peanut butter. Mix thoroughly until smooth.
Let the mixture cool completely, then pour it into an ice cream maker and churn according to the manufacturer's instructions.
If you don't have an ice cream maker, pour the mixture into a shallow container and place it in the freezer. Every 30 minutes, stir it with a fork to break up any ice crystals. Repeat this for 3-4 hours.
Before serving, let it sit at room temperature for a few minutes to soften slightly.
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