1. Bring 1 inch of water to a simmer in a small pan. Place chocolate and oil in a small heatproof bowl over simmering water. Let stand until chocolate is almost melted, about 5 minutes. Remove bowl from heat and stir mixture until smooth. Set aside to cool.
2. In a food processor, combine yogurt, honey, cocoa, tofu, vanilla, espresso powder and salt; process until smooth. Add chocolate and process until completely combined.
3. Divide pudding among 4 dessert cups. Cover with plastic wrap and chill for at least 2 hours. Serve cold.