Pour milk into large bowl. Add dry pudding mixes. Beat with wire whisk 2 min. or until well blended. (Mixture will be thick.) Spoon 1-1/2 cups of the pudding over peanuts in crust. Add half of the whipped topping to remaining pudding; stir with wire whisk until well blended. Spread over pudding layer in crust; top with remaining whipped topping.