STIR milk and pudding mix in medium bowl with large spoon just until pudding mix is moistened. Immediately add wafer crumbs; mix well.
SHAPE into 42 (1-inch) balls; place on waxed-paper-covered rimmed baking sheet. Freeze 10 min. Dip balls in semi-sweet chocolate; return to baking sheet. Insert lollipop stick into center of each ball.
REFRIGERATE 20 min. or until firm. Melt white chocolate as directed on package. Drizzle over pops; refrigerate 10 min. or until coating is firm.