Preheat the oven to 350 degrees F and line a cookie sheet with parchment paper or silicone baking mat and set aside.
In a large bowl or stand mixer fitted with a paddle attachment, cream the butter, peanut butter, and sugars together until smooth.
Add in the pudding, eggs, additional egg yolk, and vanilla. Beat for 1 minute on medium speed.
In a separate bowl, whisk together the flour, baking soda, and salt. Add dry ingredients to the wet ingredients a 1/2 cup at a time and mix until combined.
Fold in the chocolate chips.
For evenly sized cookies, use a medium cookie scoop to make 1 1/2 tablespoon sized scoops of dough onto the prepared cookie sheet about two inches apart.
Bake for 10-13 minutes. Remove from the oven and allow the cookies to cool on the cookie sheet for a couple of minutes before transferring to a cooling rack.