In a medium saucepan, combine brown sugar, cocoa powder, peanut butter, butter and half and half. Cook over medium-low heat, stirring constantly. Do not boil. Cook until all ingredients are combined and smooth.
Remove saucepan from heat. Stir in vanilla.
Cool sauce for 10 to 15 minutes, then pour into a container (like a glass jar). Cool completely. Cover. Store in fridge.
Warm up and stir before use.
The sauce will thicken as it cools. You can also store it where you keep caramel sauce and other dessert toppings.
Video
Notes
The sauce will thicken as it cools. You can also store it where you keep caramel sauce and other dessert toppings.