In a medium bowl, combine milk and pudding. Beat with wooden spoon, wire whisk, or electric mixer on lowest speed for 2 minutes
Gently mix yogurt with pudding mixture. Refrigerate for 30 minutes.
Evenly divide fruit slices in the bottom of 8 dessert cups. Pour the pudding mixture over sliced fruit and refrigerate until ready to serve, at least 5 minutes, although it's better refrigerated longer.