Using a double boiler on medium to high heat on the stove top, melt 1/4 cup coconut milk with the cocoa butter until melted. (You can also create a double boiler by putting the ingredients in a glass or metal bowl and setting on top of a boiling pot of water.) Ensure cocoa butter is completely melted.
Meanwhile, put the remaining coconut milk, maple syrup, sea salt, and vanilla extract in a blender. Add the melted cocoa butter/coconut milk mixture to the rest of the ingredients in the blender and blend well on medium or high for 1-2 minutes.
Pour the ice cream mixture into a bowl and place in the refrigerator for a minimum ofbone hour. Remove from the refrigerator and whisk until smooth again.
Turn on the ice cream maker, then pour in the cooled ice cream mix and let run for up to 30 minutes until ice cream is thick and frozen like soft serve ice cream.
Meanwhile, melt the chocolate. Do this the same as the cocoa butter method by using a double boiler or bowl over a pot of boiling water. You can also melt it in the microwave using a microwaveable bowl. Melt for 30 seconds, stir, then melt for 10-15 more seconds and stir again.
Keep the ice cream maker running and pour in the peanut butter. Let the ice cream maker churn a few times until the peanut butter is swirled, then turn off. Get your bowl of melted chocolate, turn the ice cream machine back on, and pour the chocolate into the maker and let churn a few more times until the chocolate is swirled. Don't let the ice cream machine run for too long or the peanut butter and chocolate will become too mixed and integrated.
Using a large spoon and spatula, remove the ice cream and put in an airtight. Store in the freezer for up to one week. If the ice cream is too hard to scoop, let sit on the counter for several minutes before serving.