In a large bowl, whisk together the vanilla instant pudding, peanut butter, and milk until well combined.
In a rectangular dish, layer graham crackers at the bottom to create a base.
Pour half of the peanut butter pudding mixture over the graham crackers, spreading it evenly with a spatula.
Add another layer of graham crackers on top of the pudding.
Pour the remaining pudding mixture over the second layer of graham crackers, ensuring it’s well distributed.
Top with another layer of graham crackers and drizzle chocolate sauce over the top.
Chill in the refrigerator for at least 4 hours, or for the best results, overnight to allow the flavors to meld.
Before serving, garnish with whipped cream, and enjoy this decadent dessert!