In a large mixing bowl, whisk together the cold whole milk and instant vanilla pudding mix for about 2 minutes until the pudding begins to thicken slightly. Add the sweetened condensed milk, ground cinnamon, and vanilla extract, stirring until fully combined and smooth. Gently fold in the thawed whipped topping using a spatula, being careful not to deflate it—fold just until no streaks of whipped topping remain. I like to let this mixture sit for a minute or two while I prepare the other components; it allows the flavors to meld and gives the pudding a bit more body.

While the pudding mixture rests, slice the ripe bananas into 1/2-inch rounds and set aside on a plate. For the wafers, crush about 1/4 of the package into bite-sized pieces (don't make them too fine—you want some texture). Keep the remaining whole wafers separate for layering.

In a 9x13 inch baking dish or similar size, create three distinct layers. Start with a layer of whole vanilla wafers on the bottom, then add about half of the banana slices in an even layer. Spread about half of the pudding mixture from Step 1 over the bananas, smoothing gently. Repeat with another layer of wafers, the remaining banana slices, and the rest of the pudding mixture. I find that using whole wafers on the bottom and middle keeps them from getting too soggy too quickly while still allowing them to soften slightly for that perfect texture.

Top the final layer of pudding with a garnish of banana slices arranged decoratively. Sprinkle the crushed vanilla wafers from Step 2 over the top for added texture and that signature Golden Corral presentation. Cover the dish with plastic wrap and refrigerate for at least 2 hours (or up to overnight) before serving. This resting time allows the wafers to soften slightly while maintaining their structure, creating that perfect balance between crunchy and tender.