In a large bowl, whisk together the cold milk, sweetened condensed milk and vanilla extract. Whisk for 3 minutes, until the instant pudding has dissolved and the pudding is thick. Refrigerate until ready to use.
PREPARE THE WHIPPED CREAM LAYER:
In a large bowl, use an electric mixer to beat the cream cheese until creamy. Mix in the powdered sugar and vanilla. Then add the heavy whipping cream and beat until thickened. Refrigerate until ready to use.
ASSEMBLE THE TRIFLE:
Use a trifle dish (or a glass bowl). Line the bottom of the dish with Nilla wafers. Layer banana slices on top of the wafers. Spoon half of the pudding mixture on next. Then spoon half of the whipped cream mixture on top of the pudding. Layer again with Nilla wafers, banana slices, pudding and whipped cream. Decorate the top of the trifle with more banana slices and Nilla wafers/ crushed Nilla wafers.