How to Make It
In a small saucepan, combine the chocolate milk, cream and peanuts and cook over moderately low heat until it just comes to a boil. Transfer to a blender. Add the tofu, milk chocolate, agave syrup and kosher salt and blend at high speed until smooth, about 2 minutes (the mixture will be slightly grainy). Divide the custard into four 8-ounce ramekins or small dessert bowls. Refrigerate until set, 1 to 2 hours.
Serve the custards topped with vanilla yogurt, granola, a dusting of cocoa powder and a pinch of coarse sea salt.