On bottom of pie crust, pour the caramel ice cream topping. Refrigerate until pudding is done. Whisk milk and pudding together, for 2 minutes. Scraping sides several times. Place pudding on top of caramel. Refrigerated for 10 minutes.
Using Mixer, beat cream cheese, sugar and peanut butter in large bowl until well blended. Add in COOL WHIP, beat until smooth.Pour Cool whip/Peanut butter mix onto pudding. Drizzle with fudge topping; swirl gently with knife.