Spoon 1 teaspoon sprinkles into each cup., In a large bowl, whisk milk and pudding mix 2 minutes. Let stand until soft-set, about 2 minutes. Stir in whipped topping, crushed wafers and remaining sprinkles., Cut a 1-in. hole in the tip of a pastry bag or in a corner of a food-safe plastic bag; fill bag with pudding mixture. Pipe into prepared cups. Top cups with foil and insert pop sticks through foil., Freeze until firm, about 4 hours. Let stand at room temperature 5 minutes before gently removing pops.