Add tofu, vanilla, maple syrup, cacao powder and salt to a small blender and blend until smooth. Taste this mixture and adjust to your liking with additional sweetener or cacao powder.
Add chia seeds to an airtight container, then add your blended mixture. Stir to combine, let sit for 2 minutes, then stir again to ensure no chia seed clumps have formed. Cover and store in the fridge to set for at least 30 minutes, ideally overnight.
When ready to serve, use a cookie scoop to transfer the chia pudding into a cup or bowl. If desired, top with yogurt and a sprinkle of cinnamon.