In a large mixing bowl, whisk together cold milk, sweetened condensed milk, and instant vanilla pudding mix for about 2 minutes until thick and smooth. Refrigerate for 5 minutes.

In a separate chilled bowl, whip the heavy whipping cream on high speed for 2-3 minutes until firm peaks form.

Fold the thickened pudding mixture into the whipped cream until smooth.

Spread half of the cream mixture as the first layer in a 9x13-inch dish.

Slice the ripe bananas into thin rounds and distribute them over the pudding layer, then sprinkle with crushed Biscoff cookies.

Spread the remaining pudding mixture over the banana and cookie layers.

Cover the dish and refrigerate for at least 2 hours or overnight before serving.