Prepare and bake cake mix according to package directions to make 22 cupcakes. Allow to cool completely.
In a large bowl, beat peanut butter and softened butter with a hand mixer on medium speed until smooth. Slowly mix in powdered sugar and vanilla. Gradually add milk, 1 tablespoon at a time, until a pipeable consistency is reached.
Spread a thin layer of icing over the top of each cupcake to prevent the jelly from soaking through (It just needs to cover the center of the cupcake).
Using a piping bag (or ziptop bag with the corner cut off), pipe peanut butter icing around the outside edge of each cupcake, making a nest shape.
Spoon 1 tablespoon of jelly into each nest.
Notes
*Instead of cake mix, use your favorite cupcake recipe or purchase premade, undecorated cupcakes.Keep leftovers in an airtight container at room temperature for up to 3 days. Place a slice of bread in the container to absorb excess moisture.