Toast the peanuts over low flame for a few minutes until fragrant and cooked through.
In a mortar & pestle, ground the toasted peanuts until a fine crumb, almost to a powder-like consistency.
Add sugar, milk powder, cocoa powder, and vanilla. Continue to grind until well combined into a moist powder consistency.
Press into a mold, packing tightly. Chill for a few minutes. Serve.