In medium bowl, stir Bisquick mix and milk until soft dough forms. Drop half of dough by spoonfuls evenly over bottom of baking dish (dough will not completely cover bottom of dish). Drizzle 1 can pizza sauce over dough. Scatter half of the pepperoni over sauce. Top with 1 cup of the cheese. Repeat layers with remaining dough, pizza sauce, pepperoni and cheese.