In a large bowl using a hand mixer or in the bowl of a stand mixer using the whisk attachment, beat heavy whipping cream and sweetened condensed milk until stiff peaks form, 2 to 3 minutes. Add vanilla, pudding mix, and mashed banana, beating to combine.
Use a silicone spatula to fold in most of the sliced bananas and vanilla wafers. Pour into a loaf pan and top with remaining bananas and vanilla wafers. Freeze for 5 hours, or up to overnight, and serve.
Recipe by The Best Video Recipes for All at https://recipes-for-all.com/banana-pudding-no-churn-ice-cream/