1. Preheat oven to 450°.
2. Combine first 6 ingredients in a large bowl. Heat syrup, peanut butter, oil, and vanilla in a saucepan over high heat, stirring until smooth. Add to oat mixture; toss to coat.
3. Spread oat mixture on a foil-lined baking sheet. Bake 9 minutes, stirring after 5 minutes. Divide yogurt among 6 parfait glasses; top each serving with 1/3 cup granola.