Make sure the grapes are completely dry so the caramel sticks well. You can put them on small skewers or toothpicks for easier dipping.

 In a small saucepan or microwave-safe bowl, combine the caramels and milk. Heat gently according to package, stirring often, until the mixture is smooth and creamy.

Working quickly, dip each grape halfway or fully into the warm caramel, allowing any excess to drip off.

Immediately roll the caramel-coated grapes in crushed peanuts, pressing lightly so the nuts stick.

Place the finished grapes on a parchment-lined tray and let them set for about 10 minutes until the caramel firms up.