Whisk together the milk and instant pudding for 2 minutes, until pudding is completely dissolved. Let stand 5 minutes to thicken.
Stir in frozen whipped topping and 1/2 cup of the crushed cookies.
Spoon into individual (clear, if possible) cups.
Sprinkle remaining crushed cookies over the pudding mixture. Top each cup with 2 gummy worms. Chill for at least 60 minutes or until ready to serve.