Heat oven to 350°F. Place 1 pie crust in 9-inch glass pie pan as directed on box for One-Crust Filled Pie.
Beat egg whites in small bowl until stiff peaks form. Set aside. In large bowl, combine egg yolks and brown sugar; beat until mixture is light in color and thickened. Add peanut butter and corn syrup; blend well. Gradually beat in milk and vanilla. Fold egg whites into peanut butter mixture. Spoon into crust-lined pan.
Bake 30 to 35 minutes or until filling is set. Serve warm or at room temperature. Store in refrigerator.