Spoon 1/2 cup fudge sauce into bottom of pie crust.
Gently spread 1/2 of the whipped topping over fudge sauce; place in freezer 10 minutes.
Pour milk into large bowl; stir in peanut butter until smooth. Add pudding mixes. Beat with wire whisk 2 minutes or until smooth. (Mixture will be thick.) Immediately stir in remaining whipped topping