Preheat oven to 350°F. Line a 9x9-inch baking pan with foil (leave an overhang for lifting the bars) and spray the foil with cooking spray; set the pan aside.
In a large bowl, stir together 1 cup peanut butter, 1 cup sugar, and 1 egg until smooth and evenly combined.
Spread the peanut butter mixture evenly across the bottom of the prepared pan, pressing to the edges. Bake the crust for 12 minutes.
While the crust bakes, melt 2 ounces unsweetened baking chocolate and let it cool to room temperature. (You can melt the chocolate in short microwave bursts, stirring between bursts, or use a double boiler; allow it to cool before proceeding.)
In a medium bowl, stir the cooled melted chocolate together with the 14-ounce can of sweetened condensed milk. Add the remaining egg and 1 teaspoon vanilla extract, and stir until the mixture is smooth and combined.
As soon as the crust comes out of the oven, spread the chocolate mixture evenly over the hot crust. Sprinkle 1/2 cup coarsely chopped peanuts evenly over the top.
Return the pan to the oven and bake an additional 20–25 minutes, until the top is set and gently bounces back when touched. Cool completely in the pan on a wire rack, then lift out using the foil overhang and cut into bars.