PREHEAT oven to 350°F. Prepare cake mix and bake in 24 paper-lined muffin cups, as directed on package. Cool only 30 min. (to be filled, cupcakes must be warm).
POUR milk into medium bowl. Add dry pudding mix. Beat with wire whisk 2 min. or until well blended. Add peanut butter; beat well. Spoon into small freezer-weight resealable plastic bag or pastry bag; seal bag. (If using plastic bag, snip off one of the corners from bottom of bag.) Insert tip of bag into centre of each cupcake; pipe in about 1 Tbsp. of the filling.
MICROWAVE whipped topping and chocolate in small microwaveable bowl on MEDIUM (50%) 1-1/2 min. or until chocolate is completely melted and mixture is well blended, stirring after 1 min. Dip the top of each cupcake into glaze. Sprinkle evenly with peanuts. Store cupcakes in refrigerator.
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