In a mixing bowl, whisk the Greek yogurt, milk, peanut butter, honey, and vanilla together until smooth with no streaks of peanut butter left.
Stir in the rolled oats, chia seeds, and a pinch of salt until every bit of oat is coated in the yogurt mixture.
Divide the mixture between two 16 oz / 470 ml mason jars, pressing down gently so there are no air pockets.
Cover the jars and refrigerate for at least 4 hours, or overnight, until the oats have softened and the mixture has thickened like pudding.
In the morning, stir each jar and check the texture. If it's thicker than you like, stir in 1 to 2 tablespoons of milk.
Top with sliced banana, a drizzle of extra peanut butter, or a handful of granola right before eating.