In a pan on low heat add smooth peanut butter and semolina. If semolina is not fine you can grind in the blender to make a fine powder.
Cook until the semolina is roasted, 5- 7 minutes.
Next add in the cocoa powder, mix well. Add half a can of sweetened condensed milk and mix well. Continue adding the condensed milk, and mixing until it is a smooth dough. You may not need the full can of sweetened condensed milk.
Turn off the heat, and let it cool slightly.
Once cooled enough, take a small portion (around 1-2 teaspoons, or the size of a melon baller) of the dough and roll between your palms to make a round ball.
Roll to coat with crushed peanuts.
Cool completely, then store in an airtight container for 1-2 days at room temperature or up to 1 week in the fridge.