In a saucepan, warm the peanut butter and milk then whisk to combine. In a mixer with a whip attachment, whip the cream, powdered sugar, and vanilla until medium peaks. Bloom the gelatin in the water and add to the warm peanut butter. Strain into a bowl and fold in the whipped cream mixture. Pour into flexi dome molds and freeze overnight.
Pop the frozen peanut butter mousses out of the molds and place on a wire icing rack. Ladle the ganache over to coat. Remove from the rack with a spatula and place on parchment paper in the refrigerator until set, about 10 minutes.
Garnish mousse with a pinch of chopped peanuts on the top and serve with caramel red wine sauce.
Heat the cream and pour over the chopped chocolate. Whisk to combine.
In a saucepan boil sugar and water together to make a light caramel. With a wooden spoon stir in the red wine, slowly. Chill.