For filling, beat pudding mix and milk in medium bowl with electric mixer at medium speed 2 minutes or until thickened.
Stir in liqueur.
Fold in whipped topping.
Cover with plastic wrap.
Refrigerate until ready to fill cream puffs.
For cream puffs, preheat oven to 400°F Grease baking sheet.
Bring water and butter to a boil in medium saucepan over high heat; stir until butter melts.
Add flour and salt all at once, stirring vigorously.
Continue cooking and stirring until mixture forms a ball.
Remove from heat and cool 10 minutes.
Add eggs, one at a time, beating vigorously after each addition until mixture is smooth.
Drop heaping tablespoons of batter into 6 mounds, 3 inches apart, on prepared baking sheet.
Bake about 35 minutes or until golden brown and puffed.
Cool slightly.
Cut off tops and remove soft dough from insides.
Cool completely on wire rack.
To serve, spoon filling into bottoms of cream puffs.
Place oranges on top of filling, then cover with tops.
Dust cream puffs with powdered sugar.