Add the drained silken tofu, cocoa powder, peanut butter, maple syrup, and vanilla extract to a high-speed blender or food processor.
Blend on high for 1-2 minutes, scraping down the sides as needed, until the mixture is completely smooth and creamy with no lumps.
Divide the pudding between two serving dishes.
Serve immediately, or chill in the refrigerator for at least 1 hour for a firmer, thicker consistency.
Don't be afraid to experiment with flavors. Swap the peanut butter for almond or cashew butter, or add a pinch of cinnamon or instant espresso powder to deepen the chocolate taste.