1 pkg. (3.9 oz.) Jell-O Chocolate Instant Pudding
2 cups plus 3 tablespoons cold milk, divided
3 tablespoons Planters Creamy Peanut Butter
1 cup thawed Cool Whip Whipped Topping
Beat pudding mix and 2 cups milk with whisk 2 min.; set aside. Gradually add remaining milk to peanut butter in medium bowl, stirring with whisk until well blended. Stir in Cool Whip.
Spoon half the pudding evenly into 6 parfait glasses; top with layers of peanut butter mixture and remaining pudding.
Refrigerate 30 min.