In a saucepan, add the egg yolks, salt, sugar, and vanilla. Whisk well until a homogenous paste-like mixture has formed.

Add the milk and peanut butter and heat over medium to medium-low heat stirring continuously until the mixture thickens and leaves a thick film on the back of the spoon. Do not let the mixture boil by controlling the heat.

Remove from the heat and pour into a bowl. Cover the mixture with plastic wrap, ensuring that it touches the surface, and leave it to cool down to room temperature. Speed up the process by placing the mixture in the fridge or freezer, but don’t let it cool down lower than room temperature.

Whip up the heavy cream to medium peaks.

Pour the peanut butter mixture into the whipped cream. Whisk until homogeneous in consistency.

Pour the mixture into your ice cream maker and churn it according to the manufacturer's instructions. Then, transfer the soft ice cream to a container, close it tightly, and refrigerate further until the ice cream is at desired consistency.

To make no-churn ice cream, transfer the whipped cream and egg yolk mixture into an air-tight container or in a container and close it with plastic wrap so they touch each other, and place it in the freezer for 4 hours or overnight. Enjoy with some crushed roasted peanuts.