In a mixing bowl, whisk together milk and pudding mix until pudding begins to thicken.
Stir in about 1 cup of the whipped cream.
Cover the bottom of a trifle dish with brownie pieces. Layer ½ of the pudding mixture and ½ of the whipped cream over the brownie pieces.
Add another layer of brownies and the remaining pudding mixture. Dollop or pipe the remaining whipped cream to top the trifle.
Shave some of the dark chocolate bar over the whipped cream for garnish. Top with a few more brownie pieces.
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Notes
Storage - Cover and refrigerate for up to 3 days. Do not freeze. For the whipped cream, we used 32 oz of heavy cream sweetened with 1 cup of sugar. Whip the cream until soft peaks form. Add the powdered or white sugar and continue mixing until stiff peaks form. Do not overwhip. We make 2 boxes of brownies in a 9x13 pan, so we had enough leftover to garnish. The brownies and pudding can be prepared in advance, but wait to make the whipped cream until you are ready to assemble and serve the trifle. Brownies will slice easier if they have been chilled in the refrigerator.