In a medium saucepan combine the milk, sugar, half the cream, vanilla bean and seeds and stir over medium low heat until the sugar is dissolved and mixture is warm. Remove from heat, cover and let steep for an hour
Return the pan to medium heat stirring until its warm but not bubbling. Add a about ⅓ of a cup of the warm milk mixture to the bowl of whisked egg yolks, stirring constantly, adding in more milk in several more additions until the egg yolks are well incorporated and heated. Pour the yolk mixture into the pan and stir with a spatula until the mixture is thickened like a thin pudding.
Strain the mixture into a bigger bowl and add in the remaining cream and vanilla extract. Remove the vanilla bean, rinse it and replace back into ice cream base. Chill thoroughly.
When ready to churn, remove the vanilla bean then churn according to manufacturers directions of your ice cream maker. When you spoon the ice cream into a freezer safe container swirl in the caramel sauce, fudge sauce and peanuts in between several large spoonfuls of the ice cream, swirling with a knife to combine but not completely mix. Freeze until firm. Scoop into sugar cones or bowls and serve immediately