Before turning on your burner, add coconut milk, raw cacao powder or cocoa powder, and tapioca starch to a medium saucepan. Whisk to blend.
Then start cooking over medium heat, stirring frequently, until mixture starts to bubble.
Remove from heat.
Stir in peanut butter, maple syrup, and vanilla extract. Whisk until everything is combined.
Allow the mixture to sit and come to room temperature, about 30 minutes.
Pour in a 9X5 loaf pan. Cover with Saran wrap or parchment paper so that the covering is touching the top of the liquid. Place in the freezer for at least 8 hours or ideally overnight. Before serving, allow to soften at room temperature for 10-15 minutes. Scoop and enjoy!