Preheat your oven to 350 degrees F and lightly grease a 9x13 inch baking dish with cooking spray.

In a large mixing bowl, beat the softened butter, granulated sugar, and brown sugar together until the mixture is smooth and creamy.

Add the eggs, oil, milk, and vanilla extract to the butter mixture, whisking until everything is well combined.

Sift the flour, cocoa powder, baking powder, baking soda, and salt into the wet ingredients, then stir gently until just combined.

Pour in the room temperature coffee and mix until the batter is smooth and uniform.

Transfer the batter into your prepared baking dish and spread it into an even layer.

Bake for 40 to 45 minutes, or until a toothpick inserted into the center comes out clean.

Whisk the powdered sugar, milk, and vanilla in a small bowl until you have a smooth, pourable glaze.

Drizzle the glaze over the warm cake, then immediately sprinkle with the milk chocolate chips and crushed peanuts so they stick to the glaze.

Allow the cake to cool completely in the pan before slicing into squares to serve.