Mix pudding and milk according to package directions and refrigerate until set. Fold in whipped topping, chocolate chips and vanilla. Place 21 graham cracker halves on a baking sheet; top each with about 3 tablespoons filling. Place another graham cracker half on top. Freeze for 1 hour or until firm. Wrap individually in plastic wrap; freeze. Serve sandwiches frozen.
Every editorial product is independently selected, though we may be compensated or receive an affiliate commission if you buy something through our links.