Wash the raw groundnuts and soak in water for a minimum of 6 hours.
Drain and rinse well number of ttimes and grind to a very fine paste adding little water at a time.
Use up all the water.
At this stage you can either strain it or use it as it is.
I prefer to strain it through a cheese cloth so that not much of pulp remain out. It is neither too thin, nor too thick.
Boil the strained milk till it comes up like normal milk.
Cool and when it is warm enough, set as explained in the post.
Notes
I use 3 times water to grind the peanuts and extract the milk. However, for a thicker / thinner milk you can adjust the water.
When I tried to set the entire curd with chilli stems / crowns, it took more than 24 hrs to set. But when I set a small quantity ( 1/4 cup) with green chilli crowns it got set overnight. However, people do succeed in setting the entire curd with chilli crowns. You can try.