Preheat oven to 350°F. Line a 9x13 inch baking pan with foil and spray with cooking spray for easy removal.
Stir together melted butter with granulated sugar and light brown sugar. Add eggs one at a time, mixing completely. Mix in vanilla extract, salt, and baking soda. Gradually mix in flour. Stir in chocolate chips.
Pour the sweetened condensed milk into a small bowl and add the peanut butter. Stir until smooth.
Press half the cookie dough in the prepared pan (spray hands with nonstick cooking spray to prevent sticking). Top the dough with peanut butter cups evenly.
Pour the peanut butter condensed milk mixture over the cookie dough layer, leaving about a 1/4 inch edge around the pan. Break up and place the remaining cookie dough on top, pressing gently to flatten.
Bake for 30 to 35 minutes or until the tops of the bars start to turn golden brown. Cool completely before slicing into bars.
Store bars in an airtight container up to 3 days or freeze up to one month. Best served at room temperature.
Notes
For best results, use fresh peanut butter cups and avoid overbaking to keep bars gooey and soft.