Whisk together the instant vanilla pudding mix and cold milk in a large bowl until smooth and thickened.
Add the sweetened condensed milk and mix until fully combined.
In a separate bowl, whip the heavy cream and vanilla extract until stiff peaks form.
Gently fold the whipped cream into the pudding mixture until smooth and fluffy.
In a serving dish, layer Biscoff cookies at the bottom, followed by a layer of sliced bananas.
Spread a portion of the pudding mixture over the bananas, smoothing it out evenly.
Repeat the layers until all ingredients are used, finishing with a layer of pudding on top.
Crush a few extra Biscoff cookies and sprinkle them over the top for garnish.
Cover and refrigerate for at least 4 hours, or overnight, to allow the flavors to meld.
Serve chilled and enjoy!