In a small bowl, mix 2 tbsp milk and peanut butter until smooth. Fold in 3/4 cup whipped topping; set aside. In a mixing bowl, beat pudding mix and remaining milk until blended, about 2 minutes.
Let stand for 5 minutes. Spoon half of the pudding into six parfait glasses or bowls; top with peanut butter mixture and remaining pudding. Garnish with remaining whipped topping.
