Combine yogurt, sugar, and vanilla in a large bowl.
Stir in peanut butter and mix until fully incorporated.
Cover mixture and refrigerate for at least 2 hours.
Follow your ice cream maker's directions for churning the the yogurt mixture.
About 5 minutes before the frozen yogurt is done churning, pour chocolate chips into the machine.
Transfer frozen yogurt to an airtight container and freeze until solid.
To serve, scoop frozen yogurt into individual bowls. Enjoy!