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SPREAD 1/2 cup fudge topping onto bottom of crust. Freeze 10 min.
BEAT peanut butter and milk in large bowl with whisk until well blended. Add dry pudding mixes; beat 2 min. (Pudding will be thick.) Stir in half the COOL WHIP; spoon into crust. Cover with remaining COOL WHIP.
REFRIGERATE 3 hours or until firm. Drizzle with remaining fudge topping just before serving.