I recently had this banana pudding and it was DELICIOUS! It does take some time to set, so make sure to start plenty ahead of time. This came from the restaurant's cookbook. It says that you should not let it chill for longer than 8 hours, but we ate ours the next day and it tasted just as good, if not better!
1 (14-ounce) can sweetened condensed milk
1 1/2 cups ice cold water
1 (3.4-ounce) package instant vanilla pudding mix
3 cups heavy cream
1 (12-ounce) box Nabisco Nilla Wafers
4 cups sliced ripe bananas
In a small bowl, on the medium speed of an electric mixer, beat together the sweetened condensed milk and water until well combined, about 1 minute. Add the pudding mix and beat well, about 2 minutes more. Cover and refrigerate for 3-4 hours or overnight, before continuing. It is very important to allow the proper amount of time for the pudding mixture to set.
In a large bowl, on the medium speed of an electric mixer, whip the heavy cream until stiff peaks form. Gently fold the pudding mixture into the whipped cream until well blended and no streaks of pudding remain.
To assemble the dessert, select a large, wide bowl (preferably glass) with a 4-5-quart capacity. Arrange one-third of the wafers to cover the bottom of the bowl, overlapping if necessary, then one-third of the bananas and one-third of the pudding. Repeat the layering twice more, garnishing with additional wafers or wafer crumbs on the top layer of the pudding. Cover tightly with plastic wrap and allow to chill in the refrigerator for 4 hours - or up to 8 hours, but no longer! - before serving.