Prepare Cinnamon Chocolate Chip Rounds as directed.
Combine chocolate chips, milk and candy bars in 1-quart saucepan. Cook over medium heat, stirring constantly, 8-12 minutes or until chocolate is melted and mixture is smooth. Stir in peanuts. Refrigerate at least 1 hour or until thickened.
Line cookie sheet with parchment or waxed paper. Place all cookies, bottom-side up, onto cookie sheet. Spread about 1 tablespoon cooled chocolate mixture onto bottom-side of each cookie. Refrigerate until ready to assemble sandwiches.
Chill baking sheet 5 minutes in freezer.
Scoop 8 (about 1/4 cup) ice cream portions onto chilled baking sheet. Return to freezer; freeze until ready to assemble sandwiches.
Thaw ice cream portions 4-5 minutes at room temperature. Place 1 portion onto bottom-side of 1 cookie; top with another cookie, bottom-side down. Press cookies together gently. Smooth ice cream with knife, if necessary.
Place onto baking sheet; freeze immediately at least 2 hours or until set.
Wrap each frozen ice cream sandwich in plastic food wrap; place into large resealable freezer bag. Store frozen.