1. Chill an 8″ x 8″ square glass pan or loaf pan in freezer while you make the no churn ice cream. Also chill a large mixing bowl and whisk beater for whipping heavy cream in refrigerator.
2. In medium mixing bowl, add sweetened condensed milk, vanilla, peanut butter and whole milk. Using a hand held mixer with beater attachment beat mixture until well blended. Place in refrigerator for a quick chill.
3. In a 2 cup glass measuring cup add 1/4 cup heavy cream and microwave for 45 seconds until very warm. Remove from microwave and add 2/3 cup semi sweet chocolate chips. Allow chips to sit in cream at least 5 minutes to help melt chocolate. Stir mixture until thick and smooth.  Add 1 teaspoon light corn syrup. This will help create a thick and smooth frozen chocolate sauce.
4. Remove chilled large mixing bowl from freezer and whip with whisk attachment 2 cups of heavy cream. Whip until cream is soft peaks and continue on high speed until firm peaks.
5. Pour peanut butter mixture in thirds and into whipped cream, use a rubber spatula to fold together. Repeat until all peanut butter mixture is added.
6. Remove chilled square pan from freezer, layer half of the peanut butter ice cream into pan, smooth top with off set spatula.  Add teaspoons  of half of the ganache and half of the caramel ice cream topping to the peanut butter ice cream mixture. Add 1/2 of the chopped peanuts.
7. Pour remaining ice cream over the ganache, caramel and chopped peanuts. Smooth ice cream with off set spatula.  Add remaining ganache, caramel topping and chopped peanuts over the top of the ice cream.
8. With a sharp knife cut through the ice cream and lightly cut through mixture to create a ripple effect.
9. Place uncovered in freezer for 6 hours minimum. Overnight is best. After 6 hours, cover ice cream with plastic wrap and foil sheet to protect from drying out and freezer burn.

Serve ice cream with additional ganache or hot fudge sauce, caramel and chopped peanuts. To make a great sundae add fresh whipped cream, and long stem cherry maybe even banana spears.