Gradually add the sugar while whisking until it dissolves and the mixture becomes smooth

Pour in the evaporated milk and sweetened condensed milk, stirring gently until fully combined

Add the peanut butter and mix until the base becomes thick, creamy, and evenly blended

Stir in the vanilla extract until the mixture smells fragrant and smooth

Transfer the mixture into your ice cream maker container and add whole milk until it reaches about three-quarters full

Churn the mixture according to your machine’s instructions until it thickens to a soft-serve consistency

Transfer the churned ice cream into a container and freeze until firm and scoopable