1. In a large mixing bowl, beat the softened cream cheese and creamy peanut butter together until completely smooth.
2. Beat in the powdered sweetener, almond milk, heavy cream, and vanilla extract until well combined. (Fold in any optional add-ins like chopped peanuts, espresso powder, or cocoa powder at this stage).
3. Spoon or pipe the mixture into 8 popsicle molds. Tap the molds firmly on the counter to release any trapped air bubbles.
4. Push popsicle sticks about two-thirds of the way into each mold.
5. Place the molds in the freezer for at least 4 hours until completely firm.
6. To prepare the chocolate coating, line a baking sheet with parchment paper and place it in the freezer. Set a heatproof bowl over a pan of barely simmering water.
7. Add the chopped sugar-free chocolate and cocoa butter (or coconut oil). Stir until perfectly melted and smooth, then remove from heat.
8. To remove the popsicles, run hot water over the outside of the molds for a few seconds. Gently twist the sticks until they release. Keep them frozen until ready to dip.
9. Dip each frozen popsicle into the chocolate coating about halfway. Let the excess drip back into the bowl.
10. Immediately sprinkle with chopped peanuts if desired. Place them on the prepared baking sheet in the freezer until the chocolate is firm.