ADD 3 Tbsp. milk gradually to peanut butter in medium bowl, stirring with whisk until well blended. Stir in Cool Whip.
BEAT pudding mix and remaining milk with whisk 2 min.; spoon half evenly into 6 parfait glasses. Top with layers of peanut butter mixture and remaining pudding.
REFRIGERATE 30 min.
serving size = 1/2 cup (125 mL)