In a large mixing bowl, combine Greek yogurt, creamy peanut butter, maple syrup, and vanilla extract. Blend until smooth and creamy, then set aside.

Line an 8x8-inch square pan with wax paper, dolloping half of the yogurt mixture into mounds.

Insert popsicle sticks into each mound, then spoon remaining yogurt mixture over the top and smooth it out evenly.

Sprinkle tops with roasted salted peanuts, pressing lightly into yogurt. Place in freezer for about 2 hours to set.

Melt chocolate and coconut oil in a microwave-safe bowl, stirring until smooth.

Dip each bar into the melted chocolate, allowing excess to drip off, then place bars back onto lined pan.

Freeze for another 30 minutes until chocolate is set. Serve bars straight from the freezer or let soften for easier biting.