Combine peanut butter, cream cheese, Greek yogurt, maple syrup, and vanilla extract in a medium bowl.
Blend using a hand mixer or stir thoroughly until the mixture is smooth and all ingredients are fully incorporated. Adjust sweetness by adding more maple syrup if needed.
Refrigerate the dip for 15 minutes to meld the flavors. Serve with accompaniments such as sliced apples or whole-grain crackers.