In the bowl of your electric mixer combine peanut butter and sugar and beat until smooth.
Add in the heavy cream, milk, and vanilla; mix until well combined.
Pour the mixture into the ice cream maker and churn for 30 minutes.
At this point you can either transfer the ice cream to an airtight container and freeze it, or read on for directions on how to make those peanut butter cups.
Line a 12-cup mini muffin pan with paper liners.
Meanwhile, place semisweet chocolate in a microwave-safe bowl and melt the chocolate.
Dividing evenly, use a spoon to layer half of the semi-sweet chocolate into liners.
Place the muffin pan in the freezer and freeze for 15 minutes or until firm.
Spoon in the ice cream over the chocolate layer and put it back in the freezer for another 15 minutes, or until frozen.
Cover the cups with another layer of chocolate and back in the freezer until frozen solid; about 30 minutes to one hour.