Haven't seen this in the parks. Mimi's Cafe on Harbor Blvd. used to serve this as the dessert on the kid's menu. Glanced at the kid's menu when I was in there last week though and didn't see it, so they may have removed it.
There is a really good chocolate parfait dessert sold at the Tomorrowland Terrace and also at Pizza Port in Tomorrowland. It seemed pudding-like from what I remember; can't recall if it had anything like cookie crumbs in it. It's been maybe two years since I've had that dessert.