In a medium saucepan, stir milk, pudding mix, and coffee granules. Cook according to package directions for pie filling. Place plastic wrap or wax paper directly on surface of pudding. Refrigerate 1 hour or until chilled.
Coarsely chop candy bars (you will have about 1 1/2 cups). Set 1/2 cup aside for topping.
Gently fold whipped topping into chilled pudding mixture. Stir in 1 cup of the candy. Mound in crust. Freeze, uncovered, until top is set. Cover and freeze overnight.
Uncover and place in refrigerator 1 hour before serving. Just before serving, sprinkle with reserved candy.