Add 2/3 cup boiling water to each flavor gelatin mix in separate small bowls; stir 2 min. until completely dissolved. Pour each flavor gelatin into separate 8x4-inch loaf pan sprayed with cooking spray. Refrigerate 1 hour or until firm.
Unmold gelatins; cut into 1/2-inch cubes. Beat pudding mix and milk in medium bowl with whisk 2 min. Add gelatin cubes; stir gently.
Spoon into 8 (5-oz.) paper cups. Insert wooden popstick into center of each. Freeze 4 hours or until firm. Peel off cups before serving.