Prepare the vanilla pudding according to package instructions or your favorite recipe. Mix pudding mix and milk in a saucepan over medium heat, whisking continuously for about 5 minutes until thickened.

Slice the ripe bananas into approximately ¼-inch rounds and set aside.

In a clear dish or cups, spoon a generous layer of the creamy vanilla pudding at the bottom.

Add a layer of sliced bananas over the vanilla pudding, distributing evenly.

Crumble Biscoff cookies and sprinkle a layer over the bananas.

Repeat the layering process with pudding, bananas, and Biscoff cookies until you reach the top. Finish with a layer of pudding.

Cover with plastic wrap and chill in the refrigerator for at least 2 hours.

Serve chilled, optionally topped with whipped cream and additional crumbled Biscoff cookies.