In a small saucepan, combine the milk and peanuts and cook over moderate heat until it comes to a boil. Reduce heat and simmer 3 to 4 minutes.
Transfer peanut/milk mixture to a blender. Add the Greek yogurt, milk chocolate, agave syrup (or corn syrup) and kosher salt and blend at high speed until smooth, about 2 minutes. Divide the custard into four 8-ounce ramekins or small dessert bowls. Refrigerate until set, 1 to 2 hours.
Serve the custards topped with extra yogurt and granola (Food and Wine recommends cocoa powder, sea salt, or espresso salt for added garnish, which I’m sure would be delicious, but weren’t necessary for the final dish).
Recipe by Allons-Eat! at https://www.allonseat.com/healthyish-chocolate-peanut-pudding/