Add pudding in a mixing bowl. Combine sweetened condensed milk, whole milk and pure vanilla extract to pudding. Using a whisk to mix pudding for 10-minutes. Pudding will start to thicken. Set aside. Using a 9×13 inch casserole dish or aluminum pan, place vanilla wafers on the bottom and around casserole dish or pan. Peel and slice bananas, place on top of vanilla wafers. Spread pudding mixture over bananas and vanilla wafers. Repeat with vanilla wafers and slice bananas. Spread pudding on top. Repeat with vanilla wafers, bananas and pudding until you reach the top of casserole dish or pan. Spread the whip cream on top of pudding.
Cover casserole dish or aluminum pan. Refrigerate for 30-40 minutes to allow pudding to settle. Top pudding with crumbled vanilla wafers. Serves 6-10 people. Double recipe to serve more than 10 people.