In a large microwave-safe bowl, whisk milk and pudding mix. Microwave, uncovered, on high for 4-6 minutes or until bubbly and slightly thickened, stirring every 2 minutes. Cool for 20 minutes, stirring several times.
Meanwhile, combine peanuts and chocolate chips; divide among plastic cups. Stir marshmallow creme into pudding; spoon into cups. Insert wooden pop sticks; freeze.