Pineapple-Raspberry Trifle

1 (8 oz) bar Neufchatel cheese, softened

2 cups skim milk, divided

1 (4-serving size) box fat-free, sugar-free instant pudding mix

1 (8 oz) tub fat-free frozen whipped topping, thawed

1 (20 oz) can crushed pineapple in juice, undrained

1 (12 oz) pkg frozen red raspberries, thawed

1 (8.5 oz) angel food cake, cut into 3/4-inch cubes

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