Heat the milk, sugar, and salt in a small saucepan over medium low heat. Stir until sugar is dissolved. Pour the mixture into a medium bowl and stir in the heavy cream and vanilla extract. Chill thoroughly in the fridge, at least a few hours or overnight.

In a small saucepan over medium heat, melt the butter and sugar. Bring to a boil, stirring frequently, and continue to cook for several minutes until mixture turns golden brown.

Remove from heat and add heavy cream a little bit at a time, whisking constantly. Mixture will bubble violently at first. Add the vanilla extract and coarse sauce and whisk until smooth. If chunks of caramel remain, return to medium low heat and stir until melted and smooth. Chill completely in the fridge.

Combine the sugar, light corn syrup, water and cocoa powder in a small saucepan over medium heat. Bring to a boil and cook for 1 minute.

Remove from heat and add the vanilla extract. Chill completely in the fridge.

Freeze the ice cream base in an ice cream machine according to manufacturers instructions. Add half of the peanuts and chopped Snickers bar during the last 5 minutes of churning.

Working quickly, spread a layer of the caramel sauce and chocolate sauce on the bottom of a large bowl or container. Spoon some ice cream on top and drizzle with more sauce, peanuts, and chopped candy bars. Repeat until you have used all of the ice cream. You will have caramel sauce and chocolate sauce left over.

Place in the freezer for a few hours to firm up. Serve with additional caramel sauce, chocolate sauce, peanuts and chopped candy bars, if desired.