Arrange half of the vanilla wafers in the bottom of a 9x13 inch baking dish.
Top with half of the sliced bananas.
In a large bowl, whisk together the vanilla pudding mix, milk, sweetened condensed milk, and vanilla extract until smooth.
Pour half of the pudding mixture over the bananas.
Repeat layers of wafers, bananas, and pudding mixture.
Top with whipped topping.
Refrigerate for at least 2 hours, or overnight.
Video
Notes
TipsFor a richer flavor, use dark chocolate vanilla wafers.To make this dessert ahead of time, assemble it the day before you plan to serve it.If you don't have time to wait for the pudding to set, you can use a tub of frozen whipped topping instead of thawing the thawed whipped topping.No-bake banana pudding is also delicious with a drizzle of chocolate sauce or caramel sauce.VariationsChocolate No-Bake Banana Pudding: Use chocolate vanilla wafers and chocolate pudding mix.Peanut Butter No-Bake Banana Pudding: Add 1/2 cup of peanut butter to the pudding mixture.Strawberry No-Bake Banana Pudding: Use strawberry vanilla wafers and strawberry pudding mix.