Heat the milk and the pudding mix in a saucepan over medium heat according to the package directions. Just before the mixture comes to a boil, stir in the peanut butter. Stir to completely incorporate the peanut butter, and when everything just comes to a boil and is thickened, take it off the heat and let cool slightly.

Chop the peanut butter cups into small pieces.

Spoon the pudding into a pastry bag and squeeze a layer of pudding into each popsicle mold. Fill each one about 1/3 - 1/2 the way up.

Divide the chocolate evenly between all the molds. Then fill to the top with pudding. Firmly rap the mold on a hard surface to make sure the pudding fills the mold and to avoid large air pockets.

Insert a stick into each popsicle, no need for a top since the pudding is thick enough to hold the stick upright.

Freeze until firm, about 5-6 hours, or overnight.

To unmold the popsicles, fill the sink with hot water and immerse the mold right up to, but not over, the top lip for about 15-20 seconds. If the pops don't slide out easily, immerse again for a few seconds.

Store the popsicles in plastic baggies in the freezer.