Combine the heavy cream, powdered sugar and vanilla extract in the clean, cold bowl of a stand mixer fitted with the whisk attachment. Whip until the mixture holds stiff peaks. Gently transfer the whipped cream to a new bowl. Add the cream cheese to the stand mixer bowl, switch to the paddle attachment and beat on medium speed for 1 minute. Add the peanut butter and beat until light and fluffy about 3 minutes.
Gently fold the whipped cream and chopped peanut butter cups into the cream cheese mixture. Pour the filling into the pie crust and place in the fridge to set for 2 to 3 hours.
Using a spoon, drizzle the pie in vertical lines with peanut butter sauce. Repeat with the chocolate shell ice-cream topping, also in vertical lines. Sprinkle the peanuts and mini chocolate chips around the perimeter of the pie.
Peanut Butter Sauce:
Heat the condensed milk, peanut butter and 3 tablespoons water in a small saucepan over medium-low heat until smooth and melted, 5 to 7 minutes. (Thin with a little more water if too thick.) Let cool slightly.