Sprinkle gelatin on apple juice in 1-quart saucepan to soften; add water. Heat over low heat until gelatin is dissolved, stirring constantly; remove from heat. Mix pumpkin, brown sugar, cinnamon, ginger and cloves in medium bowl; stir in gelatin mixture until smooth. Refrigerate until mixture mounds slightly when dropped from a spoon, stirring occasionally.
Prepare topping mix as directed on package - except use skim milk. Reserve 1/2 cup topping. Beat pumpkin mixture until smooth and light; fold remaining topping into pumpkin mixture. Sprinkle crumbs in bottom of square pan, 9 x 9 x 2 inches, sprayed with nonstick cooking spray; spread pumpkin mixture in pan. Cover and refrigerate until firm, at least 2 hours. Top with remaining topping.