Preparation

Melt the sugar in a small saucepan at medium temperature until it caramelises. Do not stir it! Add the warm milk gradually. Then add the cream and stir well.
Beat the egg yolks in a mixer until they are frothy. While stirring continually, add a soupspoon of the caramel mixture, in such a way that the egg yolks do not set. Add the rest of the caramel mixture gradually. Put it all into a saucepan and heat very gently, continually stirring with a wooden spoon until the mixture begins to thicken. Take the saucepan off the hob and allow to cool. Add the peanuts and now and then stir for a moment. When the mixture is completely cooled, pour into a bowl, cover it and put it in the freezer. After 1 hr, take the mixture out of the freezer, stir it using the mixer, then put it back into the freezer. After a couple of hours, stir thoroughly once more. Give it a final thorough stir when the ice cream is almost hard.
Put the mixture in a deep-freeze container, put on the lid and place in the freezer.