In a mixing bowl, combine the peanut butter, Greek yogurt, powdered peanut butter (such as PBFit), maple syrup, and vanilla extract. Stir or beat until smooth.
Gently fold in the whipped topping and stir until smooth.
Spoon it into parfait glasses, or use a pastry bag with a large decorating tip to swirl it into dessert glasses. Chill for at least an hour before serving to firm up a bit.
Garnish with chopped lightly salted peanuts, if desired.
Notes
*It’s important to use no-stir peanut butter for the best texture. *For an added protein boost and a bit more sweetness you can use vanilla Greek yogurt (I've used Oikos Pro vanilla with delicious results).*To make sugar-free peanut butter mousse. Use sugar-free cool whip and replace the maple syrup with sugar-free maple syrup, Swerve Powdered Sugar or Powdered Monkfruit Sweetener. Taste as you go, as the level of sweetness is different when compared to traditional powdered sugar. These ingredient swaps make this dessert suitable for a keto or low-carb lifestyle.