In a large bowl, beat together the pudding and milk for 2 minutes.
Add the sweetened condensed milk to the pudding and beat until well combined. Then fold in the whipped topping.
Place a spoonful of the pudding mix into the bottom of each cup. followed by 3-4 banana slices and 3-4 mini Nilla wafers. repeat laters then top each with the remaining pudding mixture.
Place in the refrigerator for at least one hour before serving. I like them to chill at least overnight.
Top with whipping cream and a Nilla wafer before serving, if desired. Makes 8 servings.