Step 1: Crush chocolate covered graham crackers in a food processor.
Step 2: Add butter, and pulse until the crumbs and butter come together. Set aside.
Step 3: Beat cream cheese, yogurt, sweetened condensed milk, vanilla, and peanut butter with a hand mixer, in a large bowl, until no lumps remain.
Step 4: Fold in whipped topping.
Step 5: Add graham cracker mixture and chopped peanut butter cups and fold them into the ice cream mixture. Don’t stir too much. You want chunks running throughout, but you don’t want the graham cracker mixture to separate too much.
Step 6: Place mixture into a large Tupperware bowl or loaf pan.
Step 7: Cover, and freeze until firm (at least 4 hours, but overnight is better).
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