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POUR milk into medium bowl. Add dry pudding mix. Beat with wire whisk 2 min.or until well blended. Add whipped topping, graham pieces, marshmallows and peanuts; mix lightly.
SPOON evenly into 8 paper-lined medium muffin cups or 8 (4-oz.) paper souffle cups.
FREEZE 3 hours or until firm. Store leftover desserts in freezer.