In a large mixing bowl, combine the heavy cream and condensed milk.

Using an electric hand mixer or a whisk, whip the mixture until it reaches a thick, yogurt-like consistency. You want soft peaks that hold their shape but still feel creamy and smooth.

Add the yogurt and mix gently until fully incorporated.

Pour in the crushed Oreos and fold them in with a spatula. Do not overmix—you want distinct pieces of cookie throughout.

Line a standard cupcake paper cup (or small paper cup) with a popsicle stick: use a knife to cut a small slit in the bottom or side of the cup, then insert the stick so it stands upright.

Spoon or pipe the Oreo ice cream mixture into each paper cup, filling almost to the top.

Alternative no-mold method: Spread the entire mixture evenly into a small freezer-safe container or loaf pan. Smooth the top, cover with plastic wrap, and freeze for at least 4 hours until completely firm. Later, you will cut this block into bars.

Freeze for at least 4 hours (or overnight) until the ice cream is rock solid.

About 10 minutes before you're ready to dip, prepare the shell. In a heatproof bowl, combine the dark chocolate and coconut oil.

Place the bowl over a pot of barely simmering water (double boiler method) or microwave in 20-second bursts, stirring between each, until fully melted and smooth.

Remove from heat and stir in the crushed peanuts. Let the mixture cool slightly to room temperature—it should still be liquid but no longer hot.

Remove the frozen Oreo bars from the freezer. If you used paper cups, peel the cup away from the ice cream. If you used a container, cut the frozen block into individual bars or rectangles.

Working quickly (the ice cream will soften fast), dip each bar into the chocolate peanut mixture. Turn to coat all sides. Let any excess drip off.

Place each dipped bar on a parchment-lined tray or plate.

Immediately return the tray to the freezer for 15 minutes to set the shell completely.

Once the shell is firm, your Oreo Crispy Ice Cream Bars are ready to enjoy.