Peanut Butter Chocolate Sauce

1 (7-ounce) pure milk chocolate candy bar
1/2 cup 2% milk
1/2 cup peanut butter
1 teaspoon vanilla extract

Break chocolate into small pieces and place in a small bowl. In a small saucepan, heat milk until bubbles appear at the edge (do not boil). Pour milk over chocolate. Let sit 3 minutes; stir until chocolate is melted. Add peanut butter and vanilla; stir until smooth and glossy. Makes 6 servings.