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POUR milk into large bowl. Add dry pudding mixes. Beat with wire whisk 2 min. or until well blended. Add lemon zest and juice; mix well.
LINE bottom of medium glass serving bowl with one third of the cake slices; drizzle with some of the reserved peach syrup. Top with layers of one third each of the pudding, peaches, raspberries and whipped topping. Repeat layers two times.
REFRIGERATE at least 1 hour before serving. Store leftover dessert in refrigerator.