In a medium bowl, whisk together 2 cups of cold milk, 1 cup of sweetened condensed milk, and 1 package of instant vanilla pudding mix until smooth and well combined. Continue whisking for about 2 minutes until thick.

While the pudding base is chilling, whip 1 cup of whipping cream until it forms firm peaks.

Once the pudding has set, gently fold it into the whipped cream using a spatula until no streaks remain.

In a 9x13-inch dish, spoon half of the pudding mixture and spread it evenly across the bottom.

Slice 2 ripe bananas and evenly distribute about ¾ of the banana slices over the pudding layer. Sprinkle 18 crumbled Biscoff cookies on top.

Spread the remaining pudding mixture over the banana and cookie layers, smoothing it out.

Cover with plastic wrap and refrigerate for at least 2 hours or preferably overnight.