01 - Whisk together heavy cream, whole milk, granulated sugar, salt, and vanilla extract in a medium bowl until sugar completely dissolves.
02 - Pour mixture into ice cream maker and churn following manufacturer's instructions for 20-25 minutes until mixture reaches thick, creamy consistency.
03 - Combine cream, semisweet chocolate chips, butter, corn syrup, and salt in small saucepan over low heat. Stir constantly until melted and smooth. Allow to cool to room temperature while ice cream churns.
04 - Transfer churned ice cream to large bowl. Gently fold halved mini chocolate peanut butter cups into ice cream using spatula until evenly distributed.
05 - Spoon one-third of ice cream into freezer-safe container. Drizzle with one-third of cooled fudge sauce. Repeat layering twice with remaining ice cream and fudge. Gently run knife through layers to create marbled swirl pattern.
06 - Cover container tightly and freeze for minimum 6 hours until ice cream reaches firm, scoopable consistency.
07 - Scoop frozen ice cream into bowls or cones. Serve immediately while frozen.