In a large mixing bowl, add in the peanut butter, cream cheese, and sugar. Mix with a hand mixer until just combined.
Add in the heavy cream and milk. Mix until everything is just incorporated. I don't recommend overmixing otherwise it'll become a fluffy mousse texture.
Pour into your popsicle mold. Tap the mold on a counter to release any air bubbles. Place the lids on.
Place in the freezer overnight. Run the bottom of the popsicle mold under hot water briefly.
Pull the popsicles out of the mold and place them on a baking sheet in the freezer until your chocolate coating is ready.
Chocolate Coating
Add the chocolate candy melts and shortening in a microwave-safe bowl. Place in the microwave for 30 seconds and stir. Repeat two more times. Set aside to cool for about 5 minutes.
Give the salted peanuts a fine chop while you're waiting for your chocolate to cool.
Once the chocolate is cooled, place it into a tall glass that is big enough for your popsicles to fit down in.
Remove one popsicle from the freezer and dip it in the chocolate. Tap the wrist of the hand holding the popsicle to remove any excess chocolate. Quickly sprinkle crushed peanuts on the end of the popsicle before the chocolate sets up.
Once the chocolate sets up, place it back in the freezer, Repeat with the rest of the popsicles. Be sure to work with one at a time.
Notes
To store any leftover popsicles place in an air tight container or freezer bag and place in the freezer for up to 3 months.