Soak the unflavored gelatin in 1/4 cup of cold milk. Once dissolved, combine it with the remaining milk and the pudding mix in a saucepan.

Cook over medium-high heat, whisking constantly, until the mixture comes to a full boil.

Remove from heat and allow to cool completely.

Whisk the thawed whipped topping into the pudding mixture until smooth.

Divide into dessert dishes, cover, and chill for at least an hour before serving.