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ADD milk to coffee in large bowl; whisk until dissolved. Add dry pudding mix; beat 2 min. Stir in half the COOL WHIP.
SPOON half the pudding mixture evenly into 6 parfait glasses or dessert dishes; sprinkle with chopped wafers. Cover with half the remaining COOL WHIP; top with layers of remaining pudding mixture and COOL WHIP.
REFRIGERATE 1 hour.