Step 1: Using a handheld mixer, cream the peanut butter, sugar, salt, and vanilla in a large bowl until smooth.
Step 2: Add 1 cup of half-and-half and beat on low speed until well mixed.
Step 3: Add the rest of the half-and-half and the cream and whisk by hand, if you try to use your mixer you will end up with it splattering all over the kitchen.
Step 4: Pour the mixture into ice cream maker and process for 25 to 30 minutes, or according to the manufacturer's directions.
Step 5: The ice cream will be on the soft side but can be eaten right away or put into the freezer to "cure" or harden up for a couple hours.
Step 6: Store in an airtight container.
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