Mix peanuts, sugar, butter and ½ teaspoon of the cinnamon in medium bowl. Remove ¼ cup and spread on small baking sheet. Divide remaining peanut mixture among 4 (10cm) tart pans with removable bottoms. Press firmly onto bottom and up sides of each tart pan.
Bake tart crusts and peanut mixture together in preheated 175ºC oven for 8 minutes. Cool on wire racks.
Meanwhile, microwave chocolate milk in medium microwavable bowl on HIGH for 45 seconds. Add chocolate; stir until chocolate is completely melted and mixture is smooth. Set aside.
Beat peanut butter, sweetened condensed milk, vanilla and remaining ½ teaspoon cinnamon in large bowl with electric mixture on medium speed until smooth. Add heavy cream; beat until soft peaks form. Spread in prepared tarts crusts. Spread chocolate mixture over top.
Refrigerate for at least 1 hour or until ready to serve. Cut each tart in half. Sprinkle with toasted peanut crumble. Serve immediately.
To crush peanuts: Place peanuts in large resealable plastic bag. Pound with a rolling pin, mallet or heavy skillet until lightly crushed.