01 - Whisk together heavy cream, whole milk, granulated sugar, salt, and vanilla extract in a medium bowl until sugar completely dissolves.
02 - Pour mixture into ice cream maker and churn according to manufacturer's instructions for 20–25 minutes until thick and creamy consistency develops.
03 - Combine heavy cream, semisweet chocolate chips, unsalted butter, light corn syrup, and salt in small saucepan over low heat. Stir constantly until melted and smooth, then cool to room temperature.
04 - Gently fold halved mini chocolate peanut butter cups into churned ice cream until evenly distributed.
05 - Spoon one-third of ice cream into freezer-safe container, drizzle with one-third of fudge sauce. Repeat layering process twice with remaining portions, then swirl knife through mixture for marbled effect.
06 - Cover container and freeze for minimum 6 hours until firm texture achieved.
07 - Scoop into bowls or waffle cones and serve immediately.