In a medium-size saucepan combine the milk and sugar and bring to a simmer over medium heat while occasionally stirring.

Beat the egg yolks in a separate bowl and slowly drizzle in the hot milk mixture while constantly whisking. Pour the mixture back into the saucepan and bring just to a boil, whisking constantly. Remove the mixture from the heat, continue to whisk and dd the gelatin. Let stand for 5 minutes.

In the bowl of a standing mixer beat the cream cheese and the peanut butter on low speed, scraping down the sides as needed.

Pour the egg and milk mixture through a chinois or a fine sieve into the peanut butter mixture. Using the whisk attachment thoroughly combine the mixture. Transfer the mixture to the refrigerator to cool completely.

Using a hand-held mixer or the standing mixer, whip the heavy cream to medium peaks. Fold the heavy cream into the cooled peanut butter base.

Transfer the mousse either to individual ramekins or pour over the Gluten-Free Brownie base. Place in the freezer overnight.

When ready to serve, remove from the freezer and let stand for 15 minutes.