2 large avocados, pits removed
1 vanilla bean, split lengthwise
¾ cup unsweetened cocoa powder
½ cup pure maple syrup
¼ cup agave nectar
¼ cup (or more) fresh orange juice
½ teaspoon kosher salt
1½ cups heavy cream (optional)
¼ cup cocoa nibs and/or chopped hazelnuts
Scoop avocado flesh into a blender and scrape in vanilla bean seeds; reserve pod for another use. Add cocoa powder, maple syrup, agave nectar, orange juice, and salt and blend to a coarse purée. With motor running, gradually stream in ¾ cup hot (but not boiling) water; blend, adding more orange juice as needed, until smooth and creamy.
Divide pudding among eight 4–6 oz. ramekins or small bowls and chill (uncovered) at least 2 hours.
Just before serving, whip cream in a medium bowl to soft peaks and spoon over pudding, if desired; top with cocoa nibs and/or hazelnuts.
Pudding can be made 3 days ahead. Cover and chill.