Make the oats the night before: In a large bowl or container with a lid, combine the oats, agave, milk, and a pinch of salt.
Cover and refrigerate the oats overnight or for at least 8 hours.
When you are ready to eat, thinly slice the figs. Mix the Greek yogurt with the vanilla. Divide the overnight oats between 4 serving bowls and top with a dollop of the Greek yogurt, followed by peanut butter. Sprinkle with cacao nibs and 1-2 fig halves.