In the bowl of a stand mixer with the whisk attachment or in a large bowl with a hand mixer, whip heavy cream until stiff peaks are formed.
In a separate large bowl, stir together the sweetened condensed milk, salt, and vanilla extract.
Gently fold the whipped cream into the sweetened condensed milk mixture until well combined. Fold the chopped peanut butter cups and chocolate covered peanuts into the mixture.
Pour half of the ice cream mixture into a large freezer-safe container (I use a 2 quart container). Drizzle half of the chocolate and caramel sauces over the top and use a knife to gently swirl the sauces into the ice cream mixture. Add the remaining ice cream on top repeat the process with the remaining sauces.
Cover container with lid or plastic wrap and place in freezer for at least 6 hours, but ideally overnight, until the ice cream is firm.