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ARRANGE cookies on bottom and up side of 9-inch pie plate. (Cookies should cover plate evenly.)
POUR milk into medium bowl. Add ice cream. Beat with wire whisk until well blended. Add dry pudding mix. Beat with wire whisk 2 min. or until well blended. Let stand 3 min.; pour into prepared pie plate.
REFRIGERATE several hours or until set. To decorate, spoon whipped topping into resealable sandwich bag. Squeeze extra air out of bag; close tightly. Snip a small corner off bottom of bag with scissors. Squeeze bag gently to make design. Refrigerate until ready to serve. Store leftover pie in refrigerator.