In a large bowl, combine the milk, vanilla pudding mix, and condensed milk. Whisk for 2-3 minutes until smooth. Refrigerate for 5 minutes or until set.
In a large bowl, add the heavy cream. Beat with a hand mixer for 3-5 minutes until stiff peaks form. Gently fold into the pudding and refrigerate until ready to use.
To assemble the pudding, grab a large glass dish (I used a large square baking dish. A 9x13 baking dish is best). Add ½ of the wafers, followed by ½ of the pudding, and ½ of the bananas. Repeat the layers again.
Cover tightly with plastic wrap and refrigerate for at least 4 hours. Right before serving, I like to crumble on some more wafers for extra crunch. Enjoy!