Whisk milk and pudding mix for 2 minutes. Let stand until soft-set, about 2 minutes more. Meanwhile, beat yogurt, cream cheese, sour cream and vanilla until smooth. Fold in pudding mixture and 1 cup whipped topping., Place one-third of cake cubes in a 4-qt. trifle bowl. Top with one-third of pudding mixture, one-third of berries and half of remaining whipped topping. Repeat layers once. Top with remaining cake, pudding and berries. Serve immediately or refrigerate.