1. In a large mixing bowl, whisk together the instant vanilla pudding mix and cold whole milk until smooth.
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2. Add the sweetened condensed milk and vanilla extract to the pudding mixture and whisk until well combined.
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3. Layer the waffles, banana slices, and pudding mixture in the mold in that order. Repeat the layering process until all ingredients are used up, ending with a layer of pudding mixture.
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4. Cover the dish with plastic wrap and chill in the refrigerator for at least 2 hours or overnight.
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5. When ready to serve, crush a few vanilla wafers and sprinkle them over the top of the pudding for added crunch and decoration.
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