Whisk together milk and pudding mix until smooth.
Add in sweetened condensed milk and whipped cream, whisking until evenly blended. Set aside.
Line the bottom of a casserole dish with vanilla wafers, then cover with a layer of sliced bananas.
Pour pudding mixture over bananas, and spread to flatten. Crush up a few extra wafers and sprinkle over the top of your pudding.
Refrigerate overnight before serving.