COMBINE peanut butter and milk, with brown sugar and honey in microwaveable bowl.
MICROWAVE on MEDIUM for 2-3 minutes, stirring once until sugar is dissolved. Refrigerate until cool.
MEANWHILE, place scoopfuls of vanilla ice cream over bottom of prepared (9 inch/23 cm) graham pie crust. Drizzle peanut butter sauce over ice cream. Place in freezer to harden. Top with additional scoops of ice cream and peanut butter sauce. Freeze.