Beat pudding mix and milk in medium bowl with whisk 2 min. Let stand 5 min. Stir in whipped topping. Spoon into large resealeable plastic bag. Use scissors to cut off 1 corner from bottom of bag.
Pipe about 2 teaspoons pudding mixture onto each wafer on baking sheet; top with remaining wafers to make 36 sandwiches.
Microwave frosting in small microwaveable bowl on HIGH 10 sec. or just until softened. (Do not microwave frosting until melted.) Stir until frosting is of glaze-like consistency. (If necessary, microwave frosting an additional 2 to 5 sec.) Spoon over wafer sandwiches.
Refrigerate 4 hours.
*For best results, spoon glaze over desserts, then spread with knife to completely cover top of each dessert, allowing glaze to drop down side. If glaze firms up, reheat in microwave in 5-sec. intervals until of desired consistency.
TO MAKE AHEAD
Prepare as normal if refrigerating for up to 2 days. For longer storage, prepare as directed but do not top with glaze. Freeze in airtight container up to 4 months. Thaw in refrigerator overnight, then top with glaze as directed before serving.
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