Combine the vanilla pudding mix, sweetened condensed milk, and whole milk in a mixing bowl.
Use a whisk to mix them thoroughly and break any lumps. Refrigerate for five minutes or until the mixture sets.
In a different bowl, combine the vanilla extract and heavy cream. Beat the mixture until it forms stiff peaks.
Divide the mixture into two equal parts. You’ll use one half to top the pudding.
Fold the other half of the mixture into the first pudding mixture you made.
Layer a 3-quart trifle dish with vanilla wafer cookies and top it with ⅓ of the pudding mixture. Place another layer of the cookies on top and top it with banana slices. Repeat the process until your ingredients are over. The topmost layer should be banana pudding.
Place the pudding in your fridge for at least three hours.
Sweeten the heavy cream and vanilla extract mixture that remained with granulated sugar, stir, and dollop on your banana pudding.
Serve and enjoy.