Beat egg yolks and sugar or honey in a bowl until smooth and creamy. Set over a pan of boiling water in a stainless steel bowl or top of a double boiler, heat milk. Reduce heat until water simmers.
Stir in egg mixture. Beat thoroughly. Stir slowly until custard slightly thickens then remove from heat Add peanut butter and beat until cool Stir in vanilla.
Pour cream and custard into ice cream canister. Freeze in ice cream maker according to directions. Garnish with chopped nuts, or peanut halves, or melted chocolate. Makes 8 servings.