
Place the vanilla yogurt, heavy cream, honey, cacao powder, vanilla, salt, and peanut butter, if using, in the bowl of a stand mixer and process until smooth and fluffy, about 1 minute, making sure to scrape down the sides of the bowl as needed.
Create alternate layers, 2 each of the crushed cookies and the chocolate pudding and divide between 6 small cups or jars.
Top with gummy worms and serve immediately.