In a medium bowl, combine 2 cups of cold milk, 1 can of sweetened condensed milk, and 1 package of instant vanilla pudding mix. Whisk them together vigorously for about 2 minutes until the mixture is smooth and thick. Once mixed, cover the bowl and refrigerate for 10-15 minutes to allow the pudding base to set properly.

While the pudding sets, take a large mixing bowl and pour in 1 cup of whipping cream. Using an electric mixer, beat the cream on high speed for about 3-5 minutes, or until you reach firm peaks.

Once the pudding base has set, gently fold it into the whipped cream using a large spatula.

Take a 9x13-inch dish and spread half of the creamy pudding mixture evenly across the bottom. Next, layer with ¾ of the sliced ripe bananas, and sprinkle half of the crumbled Biscoff cookies on top.

Spread the remaining pudding mixture over the banana and cookie layer, and top with the remaining banana slices and Biscoff cookies.

Cover the dish tightly with plastic wrap and place it in the refrigerator for at least 2 hours; for the best results, chill it overnight.