In a large mixing bowl, whisk together 2 cups of whole milk and the instant vanilla pudding mix until smooth and well combined. Continue whisking for about 2 minutes until the mixture thickens slightly. Allow the pudding to set for 5 minutes.

Slice 2 ripe yet firm bananas into roughly ¼-inch thick rounds. Arrange the banana slices on a plate to avoid browning too quickly.

Crush Biscoff cookies in a resealable bag using a rolling pin or your hands until you have a mix of fine crumbs and chunky pieces.

In a large serving dish or individual cups, start layering by spooning a generous amount of pudding into the bottom. Follow with a layer of banana slices, then sprinkle crushed Biscoff cookies over the bananas. Repeat until all ingredients are used, finishing with pudding on top.

Spread a luscious layer of whipped cream over the top of the final pudding layer. Consider sprinkling a few more crushed Biscoff cookies on top for decoration.

Cover the assembled pudding with plastic wrap or a lid and place it in the refrigerator. Allow it to chill for at least 2 hours or up to overnight.