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In a large liquid measuring cup or small mixing bowl, combine milk, dry pudding mix, and peanut butter. Use an immersion blender to blend until completely smooth.
Add heavy cream, whisking well to incorporate.
Pour mixture into a Ninja Creami pint container, being careful not to exceed the max fill line, and close the lid.
Transfer to a level surface in the freezer and freeze for at least 24 hours.
Remove pint from freezer and take off lid.
Place pint into outer bowl and secure the outer bowl lid assembly.
Place outer bowl assembly into the Ninja Creami ice cream machine and lock into place.
Press the Ice Cream button and allow the cycle to complete.
Remove pint from machine and check the ice cream's consistency.
If it appears crumbly, insert it back into the machine and use the Re-spin function to process it again.
If it's still crumbly, add a tablespoon of milk to the ice cream and Re-spin once more.
Optional: If adding a mix-in, create a well in the ice cream that's about an inch wide and extends to the bottom of the pint.
Fill the well with your mix-in, such as chopped peanuts, chocolate chips, or mini peanut butter cups.
Return the pint to the machine and press the Mix-in button. Allow the cycle to complete.