With an electric mixer, beat together the whipping cream and vanilla extract in a large bowl. Beat together for about 3-5 minutes until the cream becomes light, airy, and fluffy.

Slowly add in the condensed milk and fold into the whipping cream mixture with a spatula. Fold until completely combined.

Pour the ice cream mixture into a freezer safe container. Stir the melted peanut butter and crushed cookies into layers of the ice cream.

Cover the ice cream with a lid or plastic wrap. Freeze for at least 6 hours before serving.