Peanut Butter Cup Ice Cream Sandwiches

INGREDIENTS

For the chocolate ice cream:

1 1/2 cups

whole milk

1 1/2 cups

heavy cream

3/4 cup

sugar, divided

1/4 cup

unsweetened cocoa powder, preferably Dutch-process, sifted

1/4 tsp

salt

1/2 tsp

vanilla extract

8 oz

(about 2 cups) bittersweet or semisweet chocolate, melted

large egg yolks

For the peanut butter cookies:

1 1/2 cups

all-purpose flour

1 tsp

baking soda

1/4 tsp

baking powder

1/4 tsp

salt

6 oz

unsalted butter, at room temperature

1/2 cup

granulated sugar

1/2 cup

light brown sugar

3/4 cup

creamy peanut butter

large egg

1/2 tsp

vanilla extract

Chopped salted peanuts, for rolling