Whip heavy cream until peaks form. Mix in the cocoa powder, malted milk powder, vanilla, and salt until just combined.
Fold the sweetened condensed milk into the whipped cream mixture until fully incorporated.
Remove popsicle mold from freezer and run hot water over the bottom of the molds for 20-30 seconds to loosen pops. Remove pops from molds and roll in finely chopped peanuts to coat. Popsicles can be served immediately or individually wrapped in parchment paper and stored in the freezer for several days.