02Whisk first 4 ingredients in heavy large saucepan. Gradually whisk in milk, then cream. Whisk over medium heat until mixture comes to boil. Boil until thick, whisking constantly, about 30 seconds. Add chopped chocolate. Boil until chocolate melts and pudding is thick again, whisking often, 1 to 2 minutes longer. Remove from heat; whisk in vanilla. Cool pudding 5 minutes. Spoon atop peanut butter pudding, dividing equally (about ⅓ cup each). Chill puddings uncovered until cold, at least 2 hours.
Do Ahead: Can be made 1 day ahead. Cover and keep chilled.
03Whisk cream and powdered sugar in medium bowl to soft peaks. Spoon topping onto puddings and serve.
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Not rich — missing servings, total time, or calories.