To begin, prepare your pie crust. In a bowl, stir together the cracker crumbs, sugar, and butter. Press into the bottom of a pie plate or spring form pan. Chill while you make the pie.
In a bowl, beat together the peanut butter, cream cheese, and 2/3 cup of the powdered sugar until smooth. Stir in the milk. Be sure to scrape the bowl with a rubber spatula and get everything mixed in.
In a separate mixing bowl, combine the whipping cream, vanilla, and remaining 1/3 c powdered sugar. Beat on high until the cream is whipped and you have stiff peaks.
Gently fold the whipped cream into the peanut butter cream. Spread the filling into your pie crust.
Cover tightly with foil and freeze for an hour or more.
Thaw on your counter about 30 minutes before serving. Enjoy!
Notes
This pie is easiest to cut when it is made in a spring form cake pan.