Preheat oven to 400 degrees F. Unfold pastry sheet on lightly floured surface; roll pastry out to 10-inch square. Cut into 9 (3-inch) rounds using cookie cutter or rim of a glass. Place on ungreased baking sheet. Bake 10 min.; cool completely.
Meanwhile, pour milk into large bowl. Add dry pudding mix. Beat with wire whisk 2 min. or until well blended. Gently stir in whipped topping. Cover. Refrigerate 15 min.
Cut cream puffs horizontally in half. Spoon pudding mixture evenly into bottom halves of cream puffs; cover with tops. Drizzle with melted chocolate. Serve immediately. Or, cover and refrigerate until ready to serve.