In a medium sized bowl, combine the milk, yogurt, maple syrup, chia seeds, and vanilla, stirring until well mixed.
Set aside for 1 minute to allow the chia seeds to distribute, then stir the mixture again.
Chill the mixture in the refrigerator for 2-3 hours, then give it another good stir to loosen any clumps of chia seeds.
Divide the pudding into 4 to 6 individual containers or small mason jars. Cover the containers with lids and place them in the refrigerator to chill at least 8 hours or overnight for the pudding to set.
Before serving, top with desired toppings, such as chopped fruit, coconut shreds, and/or granola.
Refrigerate pudding for up to 5 days.
