For 1 serving: In a bowl, whisk together the yogurt, milk, maple syrup, chia seeds, matcha, and vanilla. Let sit at least 4 hours or overnight. Stir, then top with vanilla Greek yogurt and a dusting of matcha powder.
To make in jars: Multiply the recipe as desired. After the pudding rests, layer it into jars with vanilla Greek yogurt (I do a thick layer of matcha pudding, thin layer of yogurt, thin layer of pudding, then finish with another thin layer of yogurt). Refrigerate for up to 4 days. Dust with matcha powder just before serving.