POUR milk into large bowl. Add dry pudding mix. Beat with wire whisk 2 minutes or until well blended. Gently stir in whipped topping.
CAREFULLY twist open each cookie, leaving filling on one half of each cookie. Spread 1 Tbsp. of the pudding mixture onto each plain (unfilled) cookie half. Cover with remaining cookie halves.
FREEZE 3 hours or until firm. Store leftover cookies in freezer.