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Preheat oven to 325°F. Line a 13-by-9-inch baking pan with foil, allowing foil to extend over ends of pan; set aside. In a medium bowl, stir together cookie crumbs, brown sugar and salt. Add melted butter and vanilla; stir until mixture is evenly moist. Press cookie mixture firmly and evenly over bottom of prepared pan. Bake for 8 to 10 minutes or until crust is firm. Cool in pan on a wire rack.
In a large mixing bowl, whisk together peanut butter, milk and pudding mixes until combined (mixture will be stiff). Fold in one-fourth of the whipped topping and 1 cup chopped peanuts. Spoon peanut butter mixture evenly over crust; spread evenly. Cover and chill for for at least 1 hour.
Microwave dipping chocolate according to package directions; transfer to a medium bowl. Fold together melted dipping chocolate and the remaining whipped topping until combined.
Spread chocolate mixture evenly over the peanut butter layer. Cover and chill for at least 4 hours or overnight. To serve, lift uncut squares from pan using foil. Cut into squares. If desired, garnish each square with a peanut butter cup and/or peanuts.