Combine sugar, cornstarch, and cocoa in a medium saucepan; stir with a whisk. Whisk in the non-dairy milk.
Bring to a boil over medium-high heat. Cook 1 minute or until thick and bubbly.
Remove from heat. Add chocolate and peanut butter, stirring until smooth.
Spoon about 1/3 cup pudding into each bowl. Top each serving with peanuts.