In the bowl of a stand mixer, whisk together the warm milk, sugar, and yeast. Let sit for 5 minutes until bubbles start to show on top.

Add the melted and cooled butter and salt. Stir in 2 cups of flour, then gradually add the remaining flour, mixing well with each addition. Knead with the dough hook for 5-7 minutes until smooth and elastic.

Place dough in a greased bowl, cover, and let rise until doubled, about 90 minutes.

In a small bowl, stir together the peanut butter, softened butter, brown sugar, and pinch of salt until smooth and spreadable.

Prepare a 9×13-inch baking dish with parchment and baking spray. Punch down the dough and roll it into a 12×18-inch rectangle. Spread filling evenly over the dough. Sprinkle with peanuts, chocolate chips, and caramel bits.

Using a pizza cutter, cut dough into 12 strips. Roll up each strip individually and place into the prepared baking dish.

Uncover and bake for 25 minutes, or until golden brown.

Allow to cool for 5 minutes. Drizzle with caramel and fudge sauce, and sprinkle with extra peanuts. Serve warm.