In a large microwave-safe bowl, microwave the cream cheese for 10 seconds on high. Add the dark brown sugar, and beat with a whisk attachment in a stand mixer for a minimum of 60 seconds. The goal is to mostly dissolve the sugar into the cream cheese. Once incorporated, add the vanilla extract and mix again.
Stop the mixer and add the peanut butter. Mix slowly until fully incorporated and the sugar is dissolved. Make sure to scrape the bowl.
Reduce the speed and slowly add the heavy whipping cream. Once incorporated, slowly add the milk. Mix on medium for a minute until the batter is completely mixed.
Pour into Creami container and freeze for 24 hours minimum.
When ready to serve, remove the Creami container from the freezer and process immediately.
Makes 4 servings of 2 medium scoops.
Garnish with roasted peanuts, a reduction of fruit jam, or peanut brittle pieces.