For the ice cream, add the soaked cashews, coconut milk, maple syrup, peanut butter, vanilla bean paste, and yogurt to a high-speed blender and blitz until smooth and creamy.
Line a 11"x7" or 8"x8" baking tin (with height of at least 2 inches) with parchment paper.
Pour the ice cream mixture into the tin and gently tap the tin on your work surface to knock out any air bubbles. Place in the freezer to set for 2 hours.
Meanwhile prepare the caramel by adding the peanut butter, maple syrup, maca powder, plant-based milk, and salt to a bowl. Whisk well until the mixture is smooth without any lumps. Set aside in the fridge until the ice cream layer has firmed up.
Remove the ice cream from the freezer and carefully spread the caramel on top in an even layer using a spatula.
Add the roasted peanuts on top of the caramel and spread them out in an even layer. Use a spatula to gently press them into the caramel.
Place back in the freezer to set for at least 2 hours (or overnight).
Once completely set, remove the ice cream from the freezer and lift it out of the baking tin. Place it on a chopping board and cut it into 12 servings.
Place the ice cream bars back in the freezer at this point as you want them to be completely frozen before you dip them in chocolate.
Melt the chocolate over a double boiler. Don't overheat, just allow the steam from the water underneath the bowl to gently melt the chocolate.
Remove the ice cream bars from the freezer and sit them on a sheet of parchment paper.
Gently lift them using a fork underneath them and dip them into the chocolate, cover the tops and sides by spooning more chocolate on top of them.
Sprinkle with some sea salt and allow them to set for 10 minutes before serving.
Soaked cashews: Soak the cashews in water for 4 hours, rinse and drain.
Chilled coconut milk: Refrigerate the tin of coconut milk overnight, then only use the thick cream from the top of the can