wendalynn11, you're very welcome. Glad you found the links helpful!
There is no way to make a true pudding filling that doesn't require refrigertion.
Replacing the milk with non-dairy products like Cool-Whip doesn't help:
(Non-dairy doesn't always mean shelf stable.)
(See butternut's post.)
(See flayvurdfun's post.)
The sleeved pastry filling in bavarian/chocolate cream may work for you:
A faux bavarian cream/mousse filling can be made using Rich's Bettercreme and ShirleyW's recipe:
Everything you ever wanted to know about Rich's Bettercreme (Pastry Pride):
(Has other recipes and lots more info.)
Rich's Bettercreme handling instructions:
Rich's Bettercreme Cake Pros newsletter:
Decorating with Pastry Pride:
Rich's Bettercreme is also made in a chocolate flavor, but I've never seen it!