POUR milk into medium bowl. Add dry pudding mix. Beat with wire whisk 2 minutes or until well blended. Gently stir in whipped topping.
SPREAD about 1 Tbsp. pudding mixture onto each cookie. Begin stacking cookies together, standing on edge on serving platter to make a log. Frost with remaining pudding mixture.
REFRIGERATE overnight. Cut diagonally into 12 slices to serve. Store leftover dessert in refrigerator.