In a large bowl, whisk together the vanilla pudding mix and whole milk until completely smooth, about 2 minutes. You’ll see it start to thicken up – let it sit for about 5 minutes until it’s set to a soft pudding consistency.

Pour the sweetened condensed milk into your pudding mixture and stir until well combined. Add the mashed bananas and vanilla extract, mixing until everything’s evenly distributed.

In a separate bowl, whip the heavy cream until stiff peaks form – when you lift the beaters, the peaks should stand up straight and not flop over. This usually takes 3-4 minutes on medium-high speed. You want it really well whipped because this is what makes your ice cream light and creamy.

Gently fold the whipped cream into your banana-pudding mixture. I do this in three batches, using a rubber spatula and a light hand. You want to keep as much air in there as possible, but make sure there are no streaks of white cream left.

Pour half of this mixture into a 9×13 freezer-safe container. Sprinkle half of your crushed cookies over the top, then repeat with the remaining ice cream mixture and cookies. Using a butter knife, gently swirl everything together with a few figure-8 motions.

Cover with plastic wrap, pressing it right against the surface of the ice cream to prevent ice crystals from forming. Then cover with a lid or foil.

Freeze for at least 6 hours, but preferably overnight. The ice cream is ready when it’s firm but still scoopable – if it gets too hard, let it sit on the counter for about 5 minutes before scooping.