01 - In a large mixing bowl, whisk together cold milk and instant vanilla pudding mix for 2 minutes. Let it stand for 5 minutes to thicken.
02 - Stir in the sweetened condensed milk until well combined.
03 - In a separate bowl, whip 1 cup heavy cream to soft peaks. Fold the whipped cream and vanilla extract into the pudding mixture until smooth.
04 - In a trifle dish or 9x13-inch baking dish, arrange one layer of Biscoff cookies. Top with half of the banana slices, followed by half of the pudding mixture.
05 - Repeat layers with the remaining cookies, bananas, and pudding.
06 - Cover and refrigerate for at least 4 hours, or overnight, to allow flavors to meld and cookies to soften.
07 - Before serving, whip the remaining 1 cup heavy cream with powdered sugar and 1/2 teaspoon vanilla extract until stiff peaks form. Spread or pipe over the chilled pudding.
08 - Garnish with crushed Biscoff cookies and extra banana slices if desired. Serve chilled.