Combine all ingredients in a small sauce pan and heat over medium low heat, stirring occasionally. When mixture has melted and is smooth slowly increase the heat until mixture begins to simmer. Let simmer 2 minutes and remove from heat.
Add additional half and half if you wish to make it smoother.
For the Floats
To assemble the floats put 1-2 tablespoons of warm peanut butter fudge in the bottom of a glass with 1 tablespoon peanuts. Top with 1 cup vanilla bean ice cream and pour Dr. Pepper over the ice cream until the glass is full. Garnish with additional peanut butter fudge if desired.