In a large bowl, combine creamy peanut butter, granulated sugar, whole milk, heavy cream, vanilla extract, and salt. Whisk until smooth and well combined.
Pour the mixture into your ice cream maker and churn according to the manufacturer's instructions, about 25-30 minutes.
Chop the peanut butter cups into bite-sized pieces. About 5 minutes before the ice cream is done churning, add the chopped peanut butter cups to the mixture.
In a microwave-safe bowl, heat 1/3 cup of creamy peanut butter for 30 seconds to make it easier to swirl.
Once the ice cream has reached a soft-serve consistency, transfer it to a chilled airtight container, layering with melted peanut butter to create swirls.
Cover the container and freeze for at least 6 hours or until firm.
Scoop into bowls or cones and enjoy your homemade Peanut Butter Ice Cream!
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Notes
Store in an airtight container in the freezer for up to two weeks for best quality.