In a mixing bowl, combine yogurt, peanut butter, and maple syrup. Stir until smooth and well-blended.
Dip each cookie into milk (regular or plant-based) just before layering.
Layer a dipped cookie in the serving dish, then spread a layer of the yogurt mixture on top.
Continue alternating cookies and the yogurt mixture until the dish is filled.
In a separate small bowl, mix cocoa powder with a water and sweetener until smooth.
Spread the cocoa cream evenly over the top layer.
Refrigerate the dessert for about half an hour and enjoy!