Start by making the chocolate covered peanuts. Line a plate with plastic wrap and set aside. Melt chocolate in a heatproof bowl over simmering water, stirring until smooth. Remove chocolate from heat and stir in peanuts, coating them completely. Spread the mixture on the plastic-lined plate and chill until hardened.

Puree the peanut butter, sugar, half and half, vanilla and salt in a food processor until smooth. Chill mixture thoroughly in the refrigerator.

Churn in an ice cream maker according to manufacturer’s instructions. Once churning is complete, stir in chocolate covered peanuts. Freeze until hardened.