In a large bowl, whisk together the sweetened condensed milk, peanut butter, and vanilla.
In a separate bowl, beat the cream cheese with an electric mixer until soft and smooth.
Add heavy whipping cream slowly while continuing to beat on medium speed. Once all incorporated, beat on high for 2-3 minutes until thick.
Fold whipped cream mixture into peanut butter mixture in 2 additions, mixing until no more streaks remain. Don't stir too much or you may deflate the whipped cream.
Gently fold in the chopped chocolate.
Dump the mixture into a loaf pan or ice cream tub. Cover with a lid or plastic wrap. Chill until completely firm, at least 6 hours.
Calories: 4401kcal, Carbohydrates: 325g, Protein: 75g, Fat: 319g, Saturated Fat: 178g, Cholesterol: 866mg, Sodium: 1310mg, Potassium: 3214mg, Fiber: 14g, Sugar: 285g, Vitamin A: 8951IU, Vitamin C: 14mg, Calcium: 1680mg, Iron: 10mg