Put all ingredients except the whipped topping and peanuts in a food processor and process until completely smooth, stopping to scrape down the sides as needed.
Time in the processor will vary, but about 3 minutes total. If mixture is too thick, add more coconut milk in teaspoon increments until it is fluffy and light.
Divide between small pots or jars, cover with plastic wrap and refrigerate for at least an hour. Garnish with whipped topping and honey roasted peanuts.
Can be stored in fridge for a few days, and made a day ahead, though whipped topping and peanuts are best added right before serving.