In medium bowl, whisk eggs for 1-2 minutes until light and fluffy. Slowly whisk in sugar until completely blended. Whisk in peanut butter.
Pour in cream and milk. Whisk to combine.
Follow instructions on your ice cream freezer to freeze ice cream. Depending on capacity of your ice cream freezer, you may need to divide mixture into batches for freezing.
While ice cream is churning, make the peanut butter swirl. In microwave-safe bowl, melt peanut butter then add powdered sugar and milk, whisking to combine. Set aside.
Cut Reese's Peanut Butter Cup Miniatures into quarters. Set aside.
When ice cream is finished churning, transfer ice cream to storage container, spoon peanut butter swirl on top of ice cream, add peanut butter cup pieces. Then run a knife through the ice cream mixture to make a swirl. Place in freezer until firm, if desired.