Whip cream in a large bowl till soft peaks form. Slowly beat in the sweetened condensed milk, then the vanilla. Beat till well combined.
Pour half of the cream mixture into a square container. I used a tupperware container, but you can use any container, even 2 loaf pans if that's all you have. Layer half of the crushed cookies and almonds, then drizzle with half of the peanut butter and half of the chocolate sauce. Repeat layers. Cover tightly, then freeze for 6-8 hours.
Traditional mud pie calls for coffee ice cream, but I don't care for mocha flavor, so I prefer vanilla. This ice cream may not be traditional, but it is dang good!