In a medium bowl whisk together milk and sugar until sugar is dissolved, about 2 minutes. Stir in whipping cream, vanilla, and salt. Freeze ice cream  in your ice cream maker according to the manufacturers' instructions.

Add 3/4 cup peanuts in during the last 5 minutes of mixing.

Remove the ice cream from the machine and layer in the chocolate fudge sauce. First layer is ice cream, then fudge sauce, & more ice cream. Drizzle fudge sauce on top and sprinkle with remaining peanuts.