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Put the chocolate and 100ml milk in a small pan, and put the caramel, peanut butter and 100ml milk in another pan. Gently melt both, stirring until saucy. Set aside to cool.
Give the sauces a good stir to loosen, then layer the 2 sauces, biscuit bits, peanuts and ice cream in 6 sundae glasses or bowls, and eat straight away.