This no-churn peanut butter cup ice cream is easy and quick to prepare without an ice cream machine. It only needs 5 simple ingredients and 10 minutes of prep time. Put this homemade peanut butter ice cream in your freezer and you have a delicious and cold dessert!
1. In a small saucepan on low heat, whisk together milk, sugar, and peanut butter just until sugar dissolves and mixture is smooth and creamy. Remove from heat to cool.
3. Once peanut butter mixture has cooled to room temperature, whisk again, then add it to the whipped cream and beat just until combined. Mixture should be similar to whipped cream.