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Add the milk and cream to a pan, bring to the boil, then remove from the heat and add the toasted peanuts. Set aside for 1 hour to infuse
Strain the infused cream through a fine sieve into a clean pan and bring to the boil (keep an eye on it so it doesn't burn). Whisk the eggs and sugar in a mixing bowl until pale and thick, then pour the hot milk into the eggs, whisking to combine
Return the mixture to a pan and cook on a low heat until it reaches 84°C. As soon as it reaches this temperature, immediately strain into a bowl and chill over iced water, stirring continuously. Churn in an ice cream maker and keep in the freezer until needed