HEAT oven to 350°F. Prepare cake mix and bake in 24 paper-lined muffin cups as directed on package. Cool just 30 min. (Cupcakes need to still be warm to fill.)

BEAT milk and pudding mix with whisk 2 min. Add peanut butter; mix well. Spoon into small freezer-weight resealable plastic bag; seal bag. Snip off one of the bottom corners of bag. Insert tip of bag into center of each cupcake; pipe in about 1 Tbsp. filling.

MICROWAVE COOL WHIP and chocolate in small microwaveable bowl on HIGH 1-1/2 min. or until chocolate is melted and mixture is well blended, stirring after 1 min. Dip tops of cupcakes in glaze; sprinkle with nuts. Keep refrigerated.