Spoon a tablespoonful of whipped topping into the bottom of each tart shell; set aside.
In a mixing bowl, beat milk and peanut butter until well mixed.
Add pudding mix; beat for 1 minute.
Fold in remaining whipped topping.
Spoon about 1/2 cup filling into each shell.
Just before serving, top each with 1/2 teaspoon jelly.
Leftovers may be frozen.