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Preheat oven to 350°F. Spray pans with vegetable pan spray.
Prepare cake mix with water, oil and eggs following package instructions. Fill prepared pans 2/3 full (about 1/2 cup batter); reserve remaining batter.
Bake 18-20 minutes or until toothpick inserted in cake comes out clean. Cool in pan on wire rack 10 minutes; remove from pan and cool completely. Bake remaining cake batter as directed above.
In small bowl, combine peanut butter and milk; stir until completely smooth.
Fold in 1/2 cup whipped topping until thoroughly combined; fold in remaining whipped topping. Spoon into cake cavities.
Assemble cakes by inverting one layer onto second layer. Ice, as desired, with chocolate icing; sprinkle, if desired, with peanuts. Chill until ready to serve.