In a large mixing bowl, beat the heavy cream until stiff peaks form.
In another bowl, combine the sweetened condensed milk, instant banana pudding mix, and vanilla extract. Stir until smooth and fully combined.
Gently fold the whipped cream into the pudding mixture until no streaks remain.
Crush the vanilla wafer cookies into bite sized pieces and gently fold them into the ice cream mixture. Reserve a few cookie pieces for topping.
Transfer the mixture to a freezer safe container and smooth the top. Sprinkle extra vanilla wafer crumbs on top. Cover tightly and freeze for at least 6 hours or overnight before scooping and serving.