Mix on low until a dough begins to form. Transfer the dough to a floured surface and knead until smooth and elastic.
Whisk to combine the peanut butter, honey, milk, and salt. Place the gelatin in the microwave and heat it in 15-second bursts. Whisk the melted gelatin into the peanut butter mixture.
Fold the whipped cream into the peanut butter mixture, cover, and transfer the bowl to the fridge. Let it chill for 2 hours.
Once the dough has risen, transfer it to a floured surface and roll it out to a 1/4 inch thickness. Cut 12-14 donuts out. Cover and let rise for 1 hour.
Heat 3 1/2 inches of oil in a large cast-iron skillet to 375° F. Fry the donuts until golden on each side. About a minute on each side. Set them aside to drain and cool for about 30 minutes.
Transfer the filling to a large piping bag. Pipe the filling into each donut until they become heavy and the filling starts to push back on you.
Dip the donuts into the glaze and transfer them to a cooling rack. Immediately sprinkle with the crushed peanuts. Leave the glaze to set for 1 hour.