Spray 13x9-inch (3-quart) glass baking dish with cooking spray. Cut cake into 1-inch cubes; place in single layer in dish.
In medium bowl, mix milk, yogurt, condensed milk and pudding mix with wire whisk until well blended.
Pour pudding mixture over cake pieces; spread until cake pieces are completely covered. Gently tap dish on work surface to remove air bubbles. Cover; refrigerate at least 4 hours or overnight.
Just before serving, in another medium bowl, gently mix all berries. Cut dessert into squares; top with fruit.