In a blender or food processor, combine peanut butter, yogurt, sugar, milk, banana, and vanilla extract, blending on high until smooth.
Pour into the popsicle mold, fit with sticks, and freeze for at least 6 hours, preferably overnight.
Once completely frozen, make your chocolate. Combine chocolate chips and oil over a double boiler on low heat until melted. Dip each popsicle into the chocolate, then sprinkle immediately with peanuts (the chocolate will freeze fast!).