In a large mixing bowl, beat the peanut butter, cream cheese, powdered sugar, and vanilla extract until creamy and smooth. Set aside.

In a separate mixing bowl, whip the heavy cream until stiff peaks form.

Gently incorporate about ¼ of the whipped heavy cream into the peanut butter mixture.

Carefully fold in another ½ of the whipped cream until well combined.

Add the remaining whipped cream to the mixture, folding gently until everything is combined.

Transfer your mousse into a piping bag fitted with a swirly tip.

Pipe the mousse into mason jars or glass jars and chill in the refrigerator for at least 30 minutes.