In a mixing bowl, whisk the pudding mix into the milk for 2 minutes. Stir in the sweetened condensed milk and vanilla extract until completely blended.
In a 9x13 baking dish, place an even layer of vanilla wafers. On top of the cookies, place slices from two bananas.
Spread half of the vanilla pudding mixture over the bananas. Repeat the layers.
Spread the whipped topping over the top of the final layer.
Crush any remaining vanilla wafers and sprinkle over the top.
Refrigerate until ready to serve.
Notes
Store this banana pudding in the fridge for up to five days. However, it is best enjoyed 24 hours after making it.