In a bowl, beat the heavy cream for 3-4 minutes on medium-high speed until stiff peaks form. Be aware that the shit WILL FLY EVERYWHERE. If you don't own a stand mixer screen, carefully drape a towel over the mixer to block flying debris.
On low speed, mix in the condensed milk, peanut butter, and vanilla extract. Fold in the chopped chocolate with a spatula.
Transfer the cream mixture into a 9 x 5 inch loaf pan, smoothing the top with a spatula. Sprinkle with extra chocolate chunks as desired. Cover and freeze at least 4 hours, but preferably overnight.
Scoop 1-2 blobs of ice cream onto a cone and lick that shit up in the most inappropriate and seductive way possible.