COMBINE crumbs and butter in 9-inch pie plate. Press firmly onto bottom and up side of pie plate. Spread 1/4 cup of the fudge topping onto bottom of crust. Place in freezer 10 min.
MIX peanut butter and milk with wire whisk in large bowl until well blended. Add dry pudding mix; beat 2 min. or until well blended. Gently stir in 1 cup of the whipped topping. Gently spoon over chocolate layer. Top with remaining 1 cup whipped topping.
REFRIGERATE 3 hours or until set. Drizzle with remaining fudge topping just before serving. Store leftover pie in refrigerator.