Preheat the oven to 350° F. Grease and line an 8-by-8-inch square baking pan with parchment, set aside.
For the cookie bars: In a medium-sized bowl, whisk together the almond flour, baking powder, baking soda, and salt.
In the bowl of a standing mixer, beat the butter, peanut butter, light brown sugar, and honey until light and fluffy. Add the egg and vanilla extract, mix until incorporated. Add the dry ingredients, mixing only until combined.
Pour the batter into the prepared pan. Smooth the batter out into an even layer. Bake for 25-30 minutes, or until set. *These bars are sticky and soft when they come out of the oven. Allow the bars to cool for about 5 minutes. Spread the jelly onto the bars, making sure every surface is covered. Sprinkle with the crushed peanuts. Cool completely before icing.
For the icing: In a small bowl, whisk together the warmed peanut butter and confectioners' sugar, add the liquid (milk or water) 1 tablespoon at a time, until a smooth icing forms. Add the vanilla extract, whisk until incorporated. Drizzle icing over the cooled bars.