Line an 8x5” loaf pan with plastic wrap. Scoop the softened Halo Top inside the pan and spread it out. Place the pan in the freezer.
In a large bowl, whisk together the milk and pudding mix until smooth and pudding-like (about 2 minutes).
Add the whipped topping and fold together until the mixture is completely even. Scoop the mixture over the ice cream layer.
Sprinkle the chopped peanuts on top. Cover and freeze overnight.
Remove the pan from the freezer about 10 minutes before serving. Invert the pan and peel off the plastic wrap.
Slice and serve with a chocolate shell (or melted dark chocolate), caramel sauce, and extra chopped peanuts. Enjoy!