In a medium saucepan, heat 1 cup of milk until it just begins to simmer.

Meanwhile, whisk together the sugar, salt and egg yolks in a medium bowl. Gradually pour the hot milk into the egg yolk mixture, whisking vigorously the entire time.

Return the entire mixture to the saucepan and cook over medium-low heat, stirring constantly, until the mixture thickens and coats the back of a wooden spoon (6-7 minutes).

Remove mixture from the heat and stir in the remaining ½ cup of milk, heavy cream and vanilla extract.

Pour the mixture through a fine-mesh strainer into a clean container. Cover with plastic wrap, pressing the plastic directly to the surface of the mixture. Refrigerate overnight.

Place the sugar in a heavy-bottomed medium saucepan over medium heat. Whisk the sugar constantly as it begins to melt. (Tip: Use a larger saucepan than you might think as the mixture will bubble up when the other ingredients are added later.)

Once the sugar has melted and begins to boil, remove from heat and add the butter; stir until butter has fully melted. (Note: The mixture will bubble up vigorously when the butter is added, so use caution at this stage.)

Slowly whisk in the heavy cream. Add the sea or kosher salt and whisk together until smooth. (Note: Use caution once again as the mixture will bubble up when the cream is added.)

Let sauce cool for about 20 minutes at room temperature. Refrigerate until needed.

Pour the ice cream mixture into an ice cream maker and freeze according to the manufacturer’s directions. When there is approximately 5 minutes left, add the peanuts and about 3/4 of the Salted Caramel Sauce. Allow the ice cream maker to finish making the ice cream. (The ice cream will be soft at this point. If you prefer harder ice cream, just place it in the freezer for a couple of hours.)

Drizzle with remaining Salted Caramel Sauce before serving.